@internet tesla hacker. If we take your statement that "Waymo can do it now", then we can conclude, that Tesla CAN and IS doing it now in Austin.
Waymo, left a cyclist with spinal injuries as it's Lidar didn't care a cyclist was coming, nor did the rest of the system stop it illegally pulling into the cycle lane. Articles available on internet
It's also pulled over across the road and crashed into an oncoming car and continued with the side collision rather than stopping. Video is available on internet
Waymos, are still driving on to one way roads straight in front of oncoming cars, the LIDAR not picking up the stationary vehicles (again video/photos on internet)
Numerous cases of them blocking roads, stopping emergency services getting passed, which could potentially (if not already) lead to an innocent person dying.
Lidar is just a marketing gimmick, put on because those lower down the AI intellectual food chain have led innocent public to believe it's essential. Where was this mythical Lidar during the above life-endangering incidents?