Waymo handling city traffic with LIDAR.[2] They show the scan lines and some of the path planning. Busy city streets, lots of obstacles.
Tesla self-driving demo, April 2019.[3] They show their display which puts pictures of cars and trucks on screen. No difficult obstacles are encountered. Recorded in the Palo Alto hills and on I-280 on a very quiet day. The only time it does anything at all hard is when it has to make a left turn from I-280 south onto Page Mill, where the through traffic does not stop. [3] Look at the display. Where's the cross traffic info?
Tesla's 2016 self driving video [5] is now known to have been made by trying over and over until they got a successful run with no human intervention. The 2019 demo looks similar. Although Tesla said they would, they never actually let reporters ride in the cars in full self driving mode.
[1] http://gmauthority.com/blog/2019/06/how-cruise-self-driving-...
[2] https://www.youtube.com/watch?v=B8R148hFxPw
[3] https://www.youtube.com/watch?v=nfIelJYOygY