Waymo One doesn't use NDAs and users are allowed to bring friends with them, but Waymo also has an "early rider" program that's more restrictive and does use NDAs.
Waymo One has been shut down for a while now due to COVID, but now that driverless rides are an option they're re-opening the service with 100% fully driverless rides. Once they get around to installing barriers between the driver and passenger seats they plan to go back to most rides having a safety driver, but with some smaller percentage of Waymo One rides continuing to be fully driverless.