You'll all be shocked to hear that I disagree slightly with Jeff's answer. The question is too general.
Waymo and Tesla are taking two different approaches. At the moment, Waymo is focused on an approach that is trying to solve for autonomous driving limited to surface streets in urban areas. Their solution is only applicable in geo-fenced areas that have been meticulously mapped by LIDAR. Tesla is aiming to build a more generally applicable autonomous driving solution that is not limited to pre-mapped areas.
Waymo is more advanced on the path towards a limited level 4/5 certification.
It's arguable that Waymo is more advanced in its commercial application of its chosen solution. One could argue that from a revenue standpoint, Tesla is on par with their FSD package purchases and monthly subscriptions.
It's also arguable that Waymo is more advanced in it's practical application. There are significantly more Tesla FSD vehicles on the road than Waymo vehicles.
And finally, it's arguable that Waymo has a more advanced technical solution at this point. My FSD Tesla does low speed, non-highway driving right now. It can also drive on the highway, which Waymo does not.
All that said... Musk is running the company into the ground and Tesla's FSD could likely be a casualty of this shitshow.