Tesla was the first on the autopilot, however they are not doing as well as the other manufacturers.
Mercedes Benz is the first manufacturer to get level 3 autonomous driving approval by the government, however it is only available in 2 states and is a 2,500 dollar a year feature. There are a few other manufacturers that are closer to level 3 than tesla. The only difference is that the media only pays attention to tesla because the media is in it for the clicks and not to actually inform.
I would trust mercedes, the below article is pretty good. It also meets your requirements, scroll down through the article and you will see the below line of text.
"If our EQS580 had been involved in an accident during that time, Mercedes would have been responsible, not us."
https://www.caranddriver.com/reviews/a45326503/mercedes-benz-drive-pilot-review/