The Tesla ones don’t use lidar and seem pretty shotty, when I was in Tempe I took a Waymo on 2 occasions, and that was better than the majority of drivers I have ridden with. Not perfect though, it seemed to mostly struggle with sub 5 mph tight spaced things in parking lots. (It would stop then go again if there was any chance something might jump in front of the car, where a human would assume a person wouldn’t do that). Understandable though, as I have watched kids do it