There's no indication that Tesla has solved the fundamental challenge of self-driving - making the system incredibly reliable and safe and able to handle myriads of rare situations. Tesla is at a point where multiple self-driving companies were years ago. The general experience from this field is that scaling is extremely hard because improving reliability and safety by orders of magnitude is extremely hard.
I think people are too hung up on the sensor suite. Once you solve the fundamental problem, a sensor suite is kind of an implementation detail. Waymo's system is robust to the removal of any sensor type / map. There's a good chance that Waymo in a camera-only mode would perform better than the Tesla robotaxi.
Mapping is not an issue, it's less expensive than people expect and you only need to do it once, so the cost per mile is approximately zero. And in Waymo's case, there's a lot of room for streamlining the process. The more you map, the easier and faster it gets. BTW, MobilEye has a very lightweight and crowdsourced mapping process, they're also camera-centric and have a cheap hardware package.
Waymo's long-term goal is a a system that is cheap and works everywhere. They've spent 15 years with a focus on solving the hard problem. Now they seem to be close to the finish line and they're shifting their focus and money into the easier stuff, optimizing hardware and expansion.