Waymos are still making lots of errors that a human wouldn't (Stopping in middle of a road due to a puddle was a recent one https://dmnews.co.uk/waymo-robotaxi-spotted-unable-to-cross-...) 17 years after betting on LIDAR, I think Tesla is ahead now in most respects. It's could be wrong though we will probably know by the end of this year.
> My Tesla has no clue at all that that's happening. And worse, the perpendicular camera responsible for checking cross-traffic is mounted _behind my head_ on the b-pillar
It has a wide angle camera in front that you usually can never see outside service menu. It should cover that case.