This article explains in a good, fact-based, way why Waymo may deserve our respect for leading the way in autonomous vehicles, but also why they are ultimately doomed.
Whilst reading it I learned a lot about how the 'HD mapping' and Lidar actually work. I sort of knew the basics, but never the multiple steps needed, and reading through those steps immediately made it clear why HDmapping and Lidar are not the way.
Warmly recommend to read it!