Cruise was definitely less skilled than Waymo and dragged down the image of both companies, but neither company provides a straightforward way for the public to provide feedback or report active problems (e.g., akin to "how's my driving?").
They do provide a phone # to first responders, which apparently isn't good enough since they still resort to breaking the windows of these cars in emergency situations. Cruise has a unique name on each car, but Waymo doesn't even bother with that. In the case of Waymo the waymonauts I've spoken with think it's quite sufficient to have a passive web form on their website. Neither company's safety drivers seem to make reports of when their vehicles do something that's in violation of the law (I doubt the drivers have any training or familiarity with the state's vehicle code).