Assuming the rides are comparable, the article has a table which includes price/km (weird) of Lyft: $7.99, Uber: $8.36, and Waymo: $11.22. On that data, Waymo is roughly 40% higher, so way more than just a tip.
in my limited experience, you're not usually tipping a percent but a flat dollar amount of like $2-5 per ride, so $3 on an $8 ride basically removes the price difference between lyft/uber and waymo
Are Uber/Lyft still cheaper after a 10-15% tip?