Waymo is open about their remote monitoring and support. Waymo aren't remotely driven. A remote monitor might be called upon to pick from a set of choices if the vehicle can't make the decision by itself. If that can't clear the problem a human is dispatched to the location and drives the vehicle in person, or it gets towed.

I suspect some Chinese robotaxis are remotely driven in some situations. I also suspect that Tesla Robo taxis have just moved the kill switch from the passenger seat to the chase car to a remote driver. If they could do without intensive remote monitoring, FSD would really be F. it isn't.