Isn’t the real answer Rivian?
Neither Tesla nor Waymo has true self driving capabilities. Tesla may have more driving miles, but none of those is precisely autonomous. And Intel Tesla solves its manufacturing and service problems, it may take much longer than you think before they are ready.
Rivian, on the other hand, is one of several companies that maybe less well-known to the public but which is making much more progress in this field.
As usual, the best answer is not the most obvious one.