In Phoenix, you can use the Uber or Uber Lite apps per https://www.uber.com/newsroom/waymo-on-uber/
Uber Lite: https://play.google.com/store/apps/details?id=com.ubercab.ub...
Next year you will be able to use this in Austin and Atlanta: https://waymo.com/blog/2024/09/waymo-and-uber-expand-partner...