The problem with Teslas, or self-driving cars in general is not so much the ability to see your surroundings. Teslas can do this well enough by using just cameras while admittedly LiDAR would be even more accurate. The problem is deciding what to do with this information. It’s primarily a software problem, not a hardware one.

I’ve ridden in Waymos and they are smooth riding.

In a recent statement on X, Tesla Autopilot Director Ashok Elluswamy highlighted the team’s focus on both smoothness and safety during the development of FSD v12.5, noting that he managed to avoid spilling open coffee for a huge portion of a recent trip.

Many people testing FSD on youtube can confirm that it indeed is that smooth riding.