[ Disclaimer: I'm a Tesla driver, since 2018, and have FSD on my car ]
Tesla's FSD and Waymo's approach are wildly different, enough so that you can't really compare them. The biggest two differences are: 1) Musk's cheap, so Teslas only use cameras to figure out what's going on around them; Waymos use cameras, ultrasonic sensors, radar, and lidar; 2) Waymos are only deployed on specific roads and streets that have been very heavily surveyed and Waymos have been trained on.
I trust Tesla's FSD about as far as I can throw it, and while it's been helpful and prevented an accident or two for me when I've been distracted, it's basically a glorified lane assist and cruise control. I'd not hesitate to fall asleep in the back of a driverless Waymo.