They are definitely behind waymo. But they do have a different approach in using vision only and a million car scale data gathering network. There's still a lot of risk as there are certainly development paths in front of them that they could choose that don't reach the end state. That's how difficult problems go, it's not a linear path to completion some effort will be highly productive some effort will be wasted.
Tesla does seem to be in the lead in terms of driver assist self driving, so supervised self driving. I wouldn't be surprised if the lidar equipped cars reach general unsupervised city driving first over the coming years. I also won't be surprised to see more decent supervised self driving options from other manufacturers. In short I think we're likely to see step progress and multiple competing offerings in FSD over the coming years.
I think for now there is too much uncertainty in the space for me to assign much investment value to teslas FSD efforts. But when I see city NoA that could change.
Yet, in the scheme of things, they aren't spending that much on the R&D so it's like an extra lottery ticket for the stock imo. Incidentally one of two since, from a business standpoint, as a lottery ticket is how I'm evaluating Tesla energy until we see more scale in that business. Both have immense potential but so far very limited evidence for what these pieces will be worth to the business.