You're right I don't have inside information, but we've been interacting with them on the street for years in SF. Waymos don't wait for human subjective guidance to give them clearance to pass, as evidenced by tons of videos and IRL experience. As soon as they come to a required stop, and if a vehicle or other object's linear travel path does not intersect it, it will go. Flashing lights will not change this behavior. (Yes you're right there is a regulatory requirement to respond to safety officer guidance, but compliance is spotty as evidenced by a lot of videos of vehicles entering active crime zones, etc.)