Nobody in the industry is anywhere remotely near what Waymo can do. That doesn't mean they'll sweep the market, but they have a huge head start on technology iteration and data gathering. Zoox is the only other company with fully driverless vehicles and they are much more limited today.
Can Nuro catch up? I'm not the one to answer as I don't follow this market closely, but it'll be a few years at least. Cruise was probably the closest follower to Waymo and they exited the market entirely -- partially due to a high profile accident, but largely because it was well understood the were far from Waymo's capabilities and did not have a clear path to catch up.
Why the Lucid partnership? Good question. I'd speculate that this is partially "halo effect", partially investor driven, and partially that Lucid is definitely not going to develop L3/4 in-house and Nuro's model is software licensing. I wish everyone involved the best of luck, but I think this is largely a distraction for the members of this forum -- you're not likely to get Nuro Driver on your current Gravity, nor are you likely to get a Nuro Gravity Uber anytime soon (outside of bits of the South Bay).