> I realized long ago that full unattended self driving requires AGI.

Not even close.

The vast majority of people have a small number of local routes completely memorized and do station keeping in between on the big freeways.

You can see this when signage changes on some local route and absolute chaos ensues until all the locals re-memorize the route.

Once Waymo has memorized all those local routes (admittedly a big task), it's done.