That's always been the case, in software and elsewhere.

Yet, Ford didn't copy Tesla, why not?

Checkout https://en.wikipedia.org/wiki/The_Innovator%27s_Dilemma but overall the idea is that large corporations have totally different goals and incentive than startups. Also check https://steveblank.com and his startup owner manual trying to clarify that a startup is NOT a small company, rather it's searching for a product/market fit.

So is it worth pursuing a (software) startup?

Honestly if you want to make money, no. It's much easier to work for a large corporation (big economical benefits) or a public institution (work safety). You might not get ridiculously rich either way but you will be safer than most.

If you want to make a ridiculous amount of money though, well you might have to make sacrifices you are underestimating. I don't want to promote the grind culture but checkout Silicon Valley, the TV show, in particular when they discuss VC and promises done. Basically if you ask for a very high valuation you have to deliver on those claims and obviously they investors are going to keep you accountable on that. You might have to work more than you wanted (which might make the whole process a nightmare more than a joy) but more dangerously you might lose the very raison d'etre of the company you founded. If it's "just" about making money, you won't care, if you have a genuine mission, those compromises are going to eat you alive.

So... is it "worth it" very much depend on who you are, who you want to be and how saturated the market is.

I wouldn't worry about the big corporations, I would worry about what you can actually deliver and how not being able to do so will change you along the way.