Has it improved greatly over the past 8 years they've been testing? Sure. Problem is Tesla just caught up to them in feature complete and then some and is rapidly gathering more data..
So I think there's a problem with looking at it this way.
Waymo and Tesla are going down very different paths. So "caught up" isn't really a good descriptor.
Waymo has Level 4 cars operating on public roads, giving the public rides in them as robotaxis, with no human driver in the vehicle.
Tesla does not.
Tesla has a very advanced L2 system that still requires a human to be officially doing the driving task with a LOT of aid from the system- and still requires the human to intervene sometimes (videos show this happening with the current FSD beta).
So in that regard Tesla is not "caught up" to Waymo.
On the other hand- Waymos system works in ONE city... with nearly perfect weather.
Outside that one area it doesn't work at all (for the public anyway, not getting into testing).
Teslas solution works everywhere (well, in the US for now anyway).
So Waymo has not "caught up" to Tesla in that regard.
The race isn't to "catch up" to the other.
The race is which of these comes first:
Waymo figures out a way to SCALE their one-city L4 solution to LOTS of cities (at the least- as this would be the best econ case for robotaxis... or to scale it up 'everywhere' for sale to car makers)
Tesla figures out a way to get their FSD safe/reliable enough for L4 operation.
From an economic perspective- if Waymo ends up stuck in a 'super-mapped-city-only' local maximum, to borrow a phrase from Elon, then it's possible they'll be able to scale enough to run a profitable RT business in big mapped cities. But that's about it. (And even then maybe no depending on cost of getting up and running in each new city).
Teslas pursuit of a much more general solution obviously has a LOT more economic upside if they get it working.... but it's also a MUCH harder task that requires solving for a LOT more weirdness in the real world.
But it's why 'caught up' or those "who is ahead in self driving' charts aren't terribly useful for discussion... these companies are going down very different routes, and will have very different milestones along the way.
One thing I really do like about Tesla here is they're willing to admit they got something wrong and start over once they realize they've done so (hence the re-write... which only goes back maybe 12-18 months, but we're now seeing far more progress than we had in years as a result)