What Rivian is going to release at the end of 2026 is what Tesla had 3 years ago. All that time has gone to dealing with edge conditions: bike lanes, emergency vehicles, construction zones, and all the crazy one-off situations that their fleet has seen.
Tesla's fleet is an order of magnitude larger, so events that Rivian has seen only once, Tesla already has ten examples of. And rare events that Tesla has trained on, Rivian has never yet seen.
I will say this, though: Rivian is the closest competitor to Tesla (not counting Chinese cars). Waymo FSD is obviously more advanced than Tesla, but they will lose out to both Tesla and Rivian when it comes to manufacturing. And the robotaxi game is going to be all about manufacturing.