Yes, there are some prototypes that get close to the performance of a decently-spec'd Tesla Model 3.
> Hydrogen buses are already cheaper to operate than battery buses
There are some serious gymnastics going on with the math in that paper. The paper shows FCEV buses cost 3x the maintenance per mile and cost ~30% more per mile for the fuel. A lot of that price difference rides on the assumption that batteries will never go down in price, which is pretty debatable.