The issue for autonomy--to me--is liability.
I'd love an autonomous vehicle. But it's not "autonomous" unless I can be pass-out drunk in the front left seat, my vehicle mows down a line of nuns on their way to mass, and I have ZERO legal liability for it. Anything less than that isn't "autonomous", it's just ADAS.
That's something that Waymo has. Not that I've used Waymo yet, but just like a driver-operated taxi, it absolves me as a rider from liability.
Right now I don't know exactly how close Tesla is to that. For their robotaxi they apparently will have to launch with teleoperation capability, which is also the case with Waymo, and which obviously won't scale for a vehicle sold to the mass public.