I think at an even smaller scope than robotaxis, having a really convincing level 4 driver assist (dare I say "full self driving" mode) for general consumer vehicles is a decent value proposition. Both for prospective new car buyers and existing owners. EV adoption has still not reached saturation, so giving some compelling reason to buy a Tesla over another car is pretty big.
After a car rolls off the lot its hard to make money on it. Tesla is in a position to actually make money off this, provided their FSD offering is compelling enough. You can extract decently high margin recurring revenue from potential FSD subscriptions.
And despite their shortcomings, I think they are probably the closest auto OEM to making it happen, and they are clearly taking things pretty seriously (multi billion dollar GPU clusters, paying top dollar for talent, having a massive data edge, etc).
I think Waymo is the superior technology as of now, but in the short - medium term, having a compelling FSD product on a consumer car will probably benefit Tesla quite a lot. I'm not too sure how compelling a fully car-less (i.e people only commute via some company's robotaxi fleet) future is in the medium term though, and its business viability, but it seems like a not-unreasonable north star to work towards.