You are dumbfoundingly incorrect. Tesla is just so much ahead everyone else it is a bit ridiculous. I wouldn't wonder if many have already given up and are just waiting for Tesla to front the R&D then willing to license their tech. No one else has even close to Teslas NN chips, Dojo, custom simulators, the FLEET, willing free QA people, endless data sources as all cars have the hardware ... You also have no idea how time works throwing around something like 20 years. In AI age that just leads me to believe you are at least 10 years late in your thinking. 20 year guess for software is something no one can make.
You do not even understand what field Tesla operates in if you're comparing it to Waymo. Waymo operates on HD maps and remote human operators who can take over every 5 minutes if needed. Those cars are not real "cars", you can't own them, they can't drive outside the city. They compete with electric scooters like Tier, Bolt, Lime, not Tesla. They have zero ability to grow, it's like comparing a hardcoded nature language engine to ChatGPT.
(Also note that the gain in value Tesla has gotten after Autonomy Day hasn't actually even been lost. Long-term investors aren't gonna miss this one)