I've been in a Waymo when a voice message informed me that a difficult situation was detected and a remote human driver is taking over, then a couple blocks laters another voice message said it's returning control to the Waymo driver. So I assume they got alerted and have a high definition video feed. Also, it was super crowded with people watching the illegal fireworks, and they all got it on video https://twitter.com/michael_vandi/status/1756550257851449372