Tesla is a software company that makes cars and they've gotten pretty good at making great cars.
The legacy car companies mostly make crap and their software is universally terrible*. In addition to that they're constrained by the awful dealership system and all the bad incentives associated with that.
I don't expect any of them to offer any serious competition.
*Maybe a notable exception here for Cruise which was bought by GM, but they're relegated to just one trim level on one car iirc which suggests GM doesn't recognize the threat. They also focus on high-res mapping which Tesla argues is a dead end. It's also only a subset of the problem, the car's UI systems remain bad.