Based on reviewing the articles linked to the data, only one includes a lawsuit that claims the driver fell asleep before the crash. Doing this would either require a weight on the wheel to simulate constant torque (otherwise, on the highway, you have to apply torque every 30 seconds and it'll lock you out from using autosteer if you ignore it for roughly a minute), or falling asleep within 30-45 seconds of an incident, which is entirely possible.
https://www.carscoops.com/2020/04/tesla-autopilot-blamed-on-...
The original comment said "driver" died after falling asleep on autopilot - there has been no such case of that occurring.
I don't think we know if Waymo has a lower rate than a human yet. Tesla I don't know, but wouldn't be surprised if it is higher.
Also, Autopilot is not essential forced off for anything but highways. That is just factually incorrect. Notably, straight-aways are where Autopilot works best and are the most dangerous by crashes.[1]
I found data suggesting that a lot of accidents happen because people rear-end stopped cars at intersections[2] and issues with navigating intersections[3]. That is an area where Autopilot is pretty great today.
0: https://www-fars.nhtsa.dot.gov/People/PeopleAllVictims.aspx (see last table)
1: https://www-fars.nhtsa.dot.gov/Vehicles/VehiclesAllVehicles.... (see last table)
2: https://www.hg.org/legal-articles/when-and-where-do-car-acci...
3: https://www-fars.nhtsa.dot.gov/Vehicles/VehiclesLocation.asp...
If my product has the possibility of killing my customer, I’d probably not be comfortable with making it market ready (without massively improving its safety features).