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For comparison, Waymo in 2009: https://youtu.be/4V2bcbJZuPQ
Yeah, but that's cherry-picked, and it relies on lidar and maps. It almost never snows on Lombard Street.

And let's not even get into the cost of the equipment that was used in the Waymo setup! It cost many times more than most people spend on a car...

So, to this point, I think Tesla will improve a lot if they add Lidar. The FSD already costs $10,000 extra, enough to get a few Lidar sensors.