haven ridden in both a few times, yes, Waymo is head and shoulders better. It's smooth and I don't think I've ever seen any false alarms or behavior that made me feel unsafe in a Waymo, while I've had a few scary or annoying situations in the Teslas. I took a 6-minute robotaxi in drizzling weather where it parked in intersections twice because the cameras were obscured. Meanwhile Waymo can drive perfectly in heavy fog.

Both the Waymos and Teslas have that central display that shows you what the car sees (pedestrians, dogs, traffic cones, other cars, etc). The Waymo representation of the world reaches pretty far is is pretty much perfect from what I've seen. Meanwhile the Tesla one until recently had objects popping in and out.

Neither is perfect, of course; both will hesitate sometimes and creep along when (IMO) they should commit. But they're both still way better in that regard compared to the zoox autonomous cars I see in SF.