FSD 12.5 vs Waymo: Who's Actually Ahead?

I've been following the latest FSD updates and Waymo's robotaxi expansion closely. It seems like Tesla is pushing driver-assist with supervised autonomy, while Waymo is doing full driverless but confined to specific cities. Do you think Tesla can ever reach true Level 4 with just cameras and no lidar? And with OTA updates constantly changing behavior, how should regulators keep up? The safety