As a bicyclist I kinda agree with Waymo. Unless there is a strong separation (physical barrier) between the car lane and the bike lane, the rules of the road is that one always overtakes on the left; this implies that if a car is stopped, one has to overtake on the left. If the car is stopped within the bike lane, I can bike into the car lane and overtake. If the car is stopped in the car lane, well then I have to merge across two car lanes in order to overtake. I don’t stay in the bike lane because I could be doored, and my expectation is that the car could decide to drive into the bike lane to make room for overtaking traffic.

So the solution is either make it impossible for a car to drive into the bike lane through barriers, or just allow cars into the bike lanes anyways.