I'd expect the Waymo video to have captured footage of these guys. It might not be that difficult to track them, and street harassment might well qualify as assault if the DA of San Francisco were interested in prosecuting.

That said, it's telling that they freely and openly harassed a strange woman on the street once the threat of being run over was not a factor.

ETA: One short-term workaround is to tint the windows so that passengers cannot be seen from the outside, but there might be causes to harass occupied Waymo vehicles regardless of the passenger (say, to mug them). I'm curious if this is going to lead to equipping autonomous vehicles with anti-riot ordnance.