Yep! Our research team publishes a lot of work (waymo.com/research).
If you're interested in Transformers and attention in particular, the excellently named Wayformer [1] paper is pretty easy to follow and SWFormer is impressive on a lot of levels [2].
The main challenge for autonomous vehicles has been (large) multi-modal inputs, while delivering real-time inference performance on the road. Many of the large-language model things you see produce cool results, but would be much too slow or expensive for a real-time, safety-critical application.