Waymo

You're remotely watched by a live representative for the entire ride and they'll admonish you over a speaker for stuff as minor as not wearing your seat belt, so while I'm not inclined to believe you're lying about masturbating in one, I am inclined to believe you were in a statistically anomalous situation where the person wasn't doing their job and you got away with it. As someone else said above, you'd have your ride immediately canceled and be blacklisted from the platform 9.9/10 times.