These sentances conflict. I recently took a taxi from JFK to Manhattan during rush hour, and I estimate if the driver didn't use all of the paved surface, it would have taken at least 10 more minutes to arrive. (And it wouldn't have been an authentic NYC experience)
It's ok if you prefer the Waymo experience, and if you find it a better experience overall, but if a human driver saves you time, the Waymo wasn't better in every single way.
I am assuming the Lyft driver used the shoulder effectively. My experience with Lyft+Uber has been hit or miss... Some drivers are like traditional taxi drivers: it's an exciting ride because the driver knows the capabilities of their vehicle and uses them and they navigate obstacles within inches; some drivers are the opposite, it's an exciting ride because it feels like Star Tours (is this your first time? well, it's mine too) and they're using your ride to find the capabilities of their vehicle. The first type of driver is likely to use the shoulder effectively, and the second not so much.
My hot take is that people who "use all of the paved surface" because their whiny passenger is "in a rush" (which of course everyone stuck in traffic is) should permanently lose their license on the very first offense.
It is just gobsmackingly antisocial behavior that is 1) locally unsafe and 2) indicative of a deep moral rot.
Obviously exceptions can be made for true emergencies and what not, but "I need to save 10 minutes" is not one of them.