I think Tesla idea of tunnels with self driving cars is more competent then those autonomous vehicles driving on roads with other cars. At least they got some data from their cars with real world usage not predictions.
Tesla's "tunnels": I assume you are referring to elon's Boring Company? How many decades of tunneling do you think that will require before it even covers a fraction of routes people want to take?
Waymo has real world usage, both from self-driving cars which already use real streets, and from their worldwide street mapping fleet.
Besides, real world data is only as good as you can capture it, and Teslas are much more limited in that regard compared to Waymo's LIDAR.