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.
For example, getting at the back of the line for an exit rather than trying to go to the front and cut your way in could be a multi-hour mistake.
It's a viral race to the bottom.
You don't need to break any laws to get to where you're going, what are you even talking about? And you think that just because you're in a taxi you should get to magically cut to the front of a line of cars, made of the vast majority of New Yorkers who actually respect each other? What could possibly make you feel so entitled?
And if you think waiting in line for an exit takes multiple hours, I question whether you've ever been to NYC in the first place.
I've lived in New York for longer than most HN posters here have been alive, most likely. A couple of times a year, I'll end up in a car with someone who doesn't understand how this whole thing works, and they'll do something insane like getting on the Brooklyn Bridge and then just staying in the right lane the entire time waiting to get off to the right. Or they'll sit on the BQE at the Flushing Avenue exit a mile back from the exit, causing me to waste large portions of my life that I will never get back.
I'm sorry, but you clearly don't live here, or at least don't drive here. You're describing some kind of Mad Max fantasy, like the image of New York people get from movies and fiction where everyone is flipping everyone else the bird every thirty seconds.
People in NYC are pretty cooperative. Driving isn't every-man-for-himself. I don't know why you're trying to paint this picture of some lawless fantasy. Maybe you think it's exciting, but it's not connected to reality.
New Yorkers are already incapable of non-extractive development. Like the GP they have been transformed into zero-sum zombies by their city. A cautionary tale of culture.
Please stop driving here, you clearly aren't qualified to do so.