Tesla has yet to apply for regulatory permits it needs to operate driverless taxis in California, two state regulators said on Thursday, a day after CEO Elon Musk said the company would expand its robotaxis to the San Francisco Bay Area within two months.

Elon Musk's Tesla has applied to test and eventually deploy its Robotaxi vehicles in Phoenix, Arizona, following in the footsteps of market leader Waymo.

The incident earlier this week led to a Toyota being grazed outside an Austin, Texas, restaurant, though no major injuries were reported.

It's the top debate in self-driving, is Waymo way or ahead, or is Tesla way ahead? Find out why people think these two opposites, and learn about how to answer

The three autonomous driving experts told Business Insider about how they think the launch went, and what may have prompted some issue.

Since Tesla's recent launch of its robotaxi service in Austin, videos have emerged showing driving problems including speeding, sudden braking and driving over a curb.

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