Waymo may have its benefits, but when it comes to being able to drive from Point A to Point B anywhere in the US I definitely believe that Tesla has the advantage...
This is something I've wondered about. The "Waymo Driver" does best with HD maps and LiDAR, but like Tesla, Waymo uses camera "vision" (they call it "360 vision"), radar, and neural nets. The question is, how well would Waymo perform if they were limited to using only vision and radar? We know that Waymo can operate, at least to some degree, without HD mapping because they can tolerate cases where the maps don't quite match reality or where there are road obstructions such as construction activity.
It seems possible that Waymo's vision and radar systems are at least on par with Tesla's. I don't feel comfortable assuming that Waymo lags in vision/radar just because they normally use HD maps and LiDAR. Waymo has been working on the problem longer, presumably with access to all manner of resources within Alphabet/Google.
On the other hand, it's indisputable that Tesla has a major data collection advantage over Waymo, which if leveraged as well as Tesla appears to be doing, could put Tesla ahead of Waymo in reaching L5 autonomy. This is where Waymo's high vehicle costs are a huge disadvantage, as each Waymo robotaxi has to be subsidized and there's no way for them to reach Tesla's scale with their current approach. When it comes to solving the march of nines and dealing with corner cases, I don't see how simulations could be nearly as useful as real-world data.
If Waymo has good vision/radar capabilities, though, then it would seem that they could sort of follow Tesla's strategy by partnering with OEMs and having much cheaper sensors, like those in Tesla cars, installed in millions of new cars as they are manufactured. However, that's not as easy as it sounds, as data from those sensors would have to be stored and uploaded to Waymo. For the cars to operate autonomously, Waymo and the OEMs would have to carefully negotiate and implement standards, and over-the-air updates would be a necessity. This could turn into a lengthy process!