What are you referring to with Waymo? They were still operating in LA and SF as of this week. Do you mean Cruise (owned by GM)?
In any case, the Mercedes system is what's known as a conditionally autonomous system. It can drive itself under specific conditions, but a human is still involved in operating the vehicle as soon as it exits that design domain. Waymo (and Cruise) are fully autonomous systems. Humans are not involved in the control loop and the vehicles will stop if they leave their operational domain. Tesla FSD is not an autonomous system at all and requires a human to always be in control.
In any case, the Mercedes system is what's known as a conditionally autonomous system. It can drive itself under specific conditions, but a human is still involved in operating the vehicle as soon as it exits that design domain. Waymo (and Cruise) are fully autonomous systems. Humans are not involved in the control loop and the vehicles will stop if they leave their operational domain. Tesla FSD is not an autonomous system at all and requires a human to always be in control.