Does Waymo have advantages?
Like is it better for mapped roads, but garbage otherwise?
Yes Waymo is fully driverless with no one in the front seat, but it's only available in three cities. Every route the car will ever drive has already been tested extensively. The car only has to adapt to traffic, pedestrians, and other dynamic obstacles. If the car ever gets confused, a remote human operator will advise it or a human driver will show up and finish the drive like a regular taxi.
Old example of this happeningWaymo cars won't drive outside their zones. They also currently avoid highways and other roads that are difficult.
Essentially the approach used by Waymo and most other companies is to fully solve self driving in a hyper limited case and then expand the envelope. Tesla's approach is to solve universal self driving and then improve reliability.
At this point it's really hard to judge progress as an external observer. Teslas can drive the same roads as Waymo but they'll fail and require human intervention more often. Without internal data or people taking hundreds of identical trips, we don't know their relative reliabilities.