Waymo believes that the the roads need to be fully 3d mapped, with crosswalks, street lights and signs before their car can autopilot safely on it. More mapping will happen if/when the AI autopilot is ready.

Tesla autopilot is not a comparable product though! It operates nowhere at Waymo capacity.

My understanding is that Tesla is extremely behind on these fronts compared to Waymo, and that gap keeps widening every day. I know who I would bet on

But they aren't trying to solve the same problem.

I believe Waymo works better in a pre scanned area, where there are no construction sites or major changes, but in a general context you can atleast attempt to use Autopilot, which you can't with Waymo. Thus I would not say that Waymo is miles better.