I thought Waymo was much more ML than logical rules based subsumption? I’m not sure it’s possible to do more than simple robotics without jumping into ML, I guess maybe if you had high level rules prioritized via subsumption but manipulating complex ML-trained sensors and actuators.

Yes, that's right. The ostensible idea behind subsumption is dead (because it was wrong). But what subsumption did was open up the possibility of putting the AI into the run-time feedback loop rather than the deliberative planning, and that is what all robotic control architectures do today.