Vastly VASTLY prefer Waymo. It's very good at its mission and is, at minimum, infinitely better than being in an Uber rideshare. I'd rather wait 20 minutes for a Waymo than 5 for any Uber or 0 to use my own car.
Ironically, Waymo got me much more interested in using my city's public transportation offering which is much better than I previously thought.
That said, Tesla FSD v14 is the best autonomous option for a supervised system that you can actually use.
I haven't seen a good criticism of their methodology. If you have one, I'd be curious about their take.
On a more-direct measure, Waymos have had starkly lower fatalities and at-risk incidents than human drivers on average and, I think, near their best.