Initial_BP
https://github.com/google/santa
This is a product developed by Google that has at least been utilized internally to some extent. It's not perfect, but my previous company used it and it does prevent unexpected unknown code from running in the background.
What it does not do is prevent someone from intentionally downloading and executing a library unless the upvoter actually comes to some demand that you do so. I found that it quickly became a bit of a "alert fatigue" where you approve things your coworkers send you so they can get back to work without properly vetting.
I work at another autonomous car company (as a security engineer not ML related work) and I know we have a Lot of simulated situations that we run the ML against and add more from situations collected from actual driving.
All fully autonomous cars are in a different legal situation then Tesla. Tesla sells Joe Shmoe a car and then tells him he can rub FSD but he's responsible and has to remain attentive then they get info about every disengagement and (mostly) avoid legal responsibility or accidents in many cases.
Waymo is fully responsible for every accident, etc so they HAVE to proceed more cautiously or they'll lose the ability to run their cars. As someone else pointed out they often are only operated in very specific areas, and often even specific streets within a geofence. So while on the surface Waymo may have full self driving operating more effectively with less problems, they're doing so in a much more controlled environment and not getting the variety of data that Tesla has from cars disengaging Literally anywhere in the US.