Tesla's plan is (or has become) to do an end-run around all that, and just train a giant network on camera-only sensor stacks, so that it can navigate without large 3D representations of the environment / city in which it works, without expensive lidar/radar sensor suites, and to skip the "partner" phase that Waymo and others do with particular cities.
This allowed them to bring me, a MN customer, something like lvl 3 autonomy before any other company did. But it might not have the same upper-bound as other, more fine-tuned approaches do, and having ridden in Waymo, Nuro, etc vs my own Tesla, I can tell you the Tesla is wonkier for it. Time will tell.
