The difference is that Waymo has a very well engineered system using vision, LIDAR, and millimeter wave RADAR that works well enough in limited areas to provide tens of thousands of actual driver-less rides. Tesla has a vision only system that sucks so bad a human has to be ready to take over for it at any time like a parent monitoring a toddler near stairs.
NO. Waymo cars are never remote-controlled. Remote controlling cars in traffic is too dangerous do to latency severely limited. What Waymo does is have operators provide hints. At no time is the autonomous system ever disabled. Just another example of how much better engineered Waymo is than Tesla's FSD scam.