Tesla was never light years ahead of anyone. I don't understand where this narrative came from. Tesla was fucking reckless and killed a bunch of people with unsafe cars and sold a fraction of vehicles and drove a fraction of the "autopilot" miles as other vehicles with advanced Lane Keep assist and other "a little better than cruise control" features. A 2018 Tesla and a 2018 E-Class were damn near the same level of autonomy, and Mercedes Benz has reached level 4 enough to test it https://www.wardsauto.com/autonomous-adas/mercedes-benz-gains-level-4-autonomous-driving-test-license and has had level 3 for nearly 5 years.
Audi has been doing great things for a while as well, as has volvo, as has most of the Japanese mfg in their higher end trims.
https://comma.ai/shop/comma-3x comma has had nearly identical performance numbers to non FSD tesla assist for nearly 4 years on consumer grade hardware with retrofit available for nearly any car on an open source model that is pretty damned good.
Stop saying hyperbolic shit like tesla being lightyears ahead of anything, they were willing to take insane risks that no rational company would take endangering the lives of their customers and the other people on the road.