Tesla may have been first to seriously try but currently there's no evidence they will be first in anything compared to their competitors.
Waymo works because they have mapped out cities with maps and millimeter precision 3D scans. It only works in places with good weather. The rules of the road are hardcoded in millions of lines of fragile code. To top it all off, they are basically driven entirely by remote operators.
FSD works anywhere and doesn't rely on millions of dollars worth of equipment and pre-mapped environments. Tesla's technology is scalable in a way that Waymo never will be. You can buy a Tesla with FSD today for less than 50k. Google will eventually realize that Waymo is burning cash with no path to recovery, and shut it down just like every other Google product.