Accepting the cash can be easy enough, in and of itself.
I don't know who makes them, but the bill acceptors at the camera-driven self-checkouts at the Circle Ks in my ghetto have excellent behavior that is completely unlike the experience of fighting with a Coke machine in 1996.
A person can just put a stack of randomly-oriented, rough bills into the slot and it rapidly takes them off, one by one, and counts them up. I've probably used it a thousand times so far. I've tried to get it to screw up by feeding it bills in various states of decay and it has been perfectly accurate and trouble-free. It's quite a marvel. :)
The coin acceptor is similarly-good: It quickly turns a handful of loose change into a cup of coffee. Just drop it into the chute all at once, it makes some coin-sorter noises, and counts them up.
The combined contrivance is also very good at making change, in bills and coins.
So that part is certainly solvable, and that's good.
But now there's other problems: Those machines are big. That's fine for a convenience store, but it's probably not ideal for a car.
The machines are presumably full of money some of the time, and that can make them targets for thieves. Security is likely part of the reason why the ones at the Circle K are big. They might get emptied regularly, but a thief doesn't know whether they're empty or not until they break into it -- and they don't know if it's easy to break into or not until they make a mess of trying.
If they can make change (it seems like that would be a must-have feature), then they'll always need to have some amount of cash inside.
And then: It comes back to the depot. A worker empties it out and brings the cash inside. Now the depot itself is a target that it would not otherwise be.
And finally: They have to get rid of that cash. A regular person doing this has a big X on their back, so in big corpo world that's often the territory of men with guns and armored cars.
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Or, you know: Maybe cashless payments are OK. If it would behoove Waymo to accept prepaid debit cards (I don't know if it does or not), then those are easy to buy and load with cash at name-brand convenience stores. This ultimately shifts the expense of the cash-handling burden to the consumer, but I guess that's better than them not getting a ride when they need it.