Do you actually have data to back that up? I read your article, which (no undue disrespect intended) looked to be full of unsubstantiated qualitative data/graphs and opinion. Are you an "expert"? Or are you trying to get medium clicks on your article/ purchases of your book?

I built self driving cars (at Lyft), including behavioral planning algorithms.

I have run these essays by engineers at Waymo, Lyft, Uber, Nuro, etc and they have verified all of the information (I've incorporated any feedback).

That's fair, although credentials != proof. Working for Waymo, Lyft, Uber, Nuro etc is a credential. The engineers you mentioned have verified that what you wrote fits with the method/ approach they think will work. There is a possibility that they're/ you're wrong.

(This isn't intended as a personal attack)

You asked for credentials...

Yeah fair, I wanted to see if you were full of shit, but you probably know more than me, and bickering and points scoring over stupid things is how hacker news turns into reddit, sorry.