having used Tesla FSD for a while and taken a representative sample of Waymos, my conclusion is....
FSD feels much smoother, more natural, and human-like. It's an overall more enjoyable ride and I don't get carsick from sudden braking/acceleration. (note: i've only ever used the latest edition of FSD)
Waymo is MUCH more risk averse, more jittery, and nervous. It kind of feels like a student driver white knuckling their first ever car ride. It is scared of its own shadow and brakes sharply all the time if it thinks something weird might be going on.
This may be due to the fact that the model _has_ to be more risk averse fundamentally since there is no backup driver. Waymo also gets stuck in weird failure modes. Yesterday we looped around in a random parking lot for 10 minutes because it couldn't figure out which exit it liked better. You feel weirdly helpless in those situations... like there should be a way to tell the car "hey little buddy I know youre scared, but it's actually totally fine. you can go this way it's ok." In complex situations it tends to freeze; but defaulting to inaction isn't always the right move. It often also takes a lot longer to arrive than it says it will; I assume because it's going endlessly round a roundabout or stuck in some other weird glitch. Still better than a human Uber driver though; at least with Waymo you know that it will eventually arrive.
Waymo also hates picking you up where you want to be picked up and will insist on going to some parking lot two blocks away.
Either way after a week taking Waymos in the bay area I actually gave up and went back to human Uber drivers and felt relieved. The newer Waymo vehicles also feel junkier than the Jaguars.
On the margin, I still probably prefer a Waymo to a human driver, but I think the model has a loooong way to go.