Re, disengagement reports: most people mistakenly think that this means that "every time the driver takes the wheel, you have to issue a disengagement report. That's not how it works.
California’s self-driving car reports are imperfect, but they’re better than nothing
A disengagement report only needs to be filed if the human driver decides that the reason that they took control of the wheel was due to "safety" or a "failure". Driver takes control to avoid missing a turn? To not block an intersection? To not annoy other drivers? None of those things count as a disengagement. And those sorts of things are the vast majority of the reason why people take control over from Autopilot as well.
Also, while Waymo "tests" in a number of cities (including a winter proving grounds in Michigan), notice how they only have public operations in places that never get snow? Yeah, because this:
... will render LIDAR basically useless for detecting road obstacle detections. Forget about "falling snow", ridges of snow on the road are indistinguishable from tree braches or children laying across the road. And it's like that all winter in northern climates.
Doesn't just change the surface of the road with random ridges and troughs and blocks... it also changes the sides of your road.
Medians may widen and go windy. Shoulders frequently disappear, and may intrude into the road. Parking spaces may turn into huge snowpiles. Your landmarks on the edge of the road may be totally transformed.
It's not just about how to deal with driving on slippery roads and how to recognize changes in how slippery a surface may be, how to navigate to less slippery parts, etc etc. That's an entirely
separate, and critical, issue. No, it's not about how falling or blowing snow blocks LIDAR. Again, that's yet another issue. No, even before you get to that point, when it comes to snow accumulation, to LIDAR, it's all an obstacle. It has no idea how to tell snow accumulation apart from anything else.