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Neither waymo nor cruise currently require human supervision. That's the whole point of this announcement: waymo is expanding their driverless program to SF.

Whether the grid is pre-mapped or not isn't particularly relevant. It's just how the technology works. The vehicles aren't driving on rails, they just have more semantic information about the world around them.

Waymo arguably reached level 4 with commercial taxis with no human at the wheel a while back: https://www.youtube.com/watch?v=__EoOvVkEMo

Even wide distribution of long-haul trucking exclusively on the interstate, or an automated bus-like commuter service (but actually good, unlike the regular bus), would be a pretty meaningful innovation, wouldn't it?

Of course, and it would be awesome, and I believe that sort of thing is actually possible within a relatively short timescale. General self driving like 90% of people do every day? Nope, don't see that.