I'm really not convinced they have tbh. Getting an engine to burn hydrogen seems really easy. Fuel cells are harder, but seem to be maturing well. Making hydrogen isn't that hard, I could be making small quantities here at home using electrolysis and solar power in minutes if I wanted. So if hydrogen could just work, I think it would be everywhere by now. It would certainly have killed off battery vehicles.
I think it's partly down to safely handling and storing hydrogen.
NASA's SLS rocket had that recent launch abort down to the difficulty of handling the hydrogen fuel. The space shuttle had similar problems. Rocket scientists struggle with the stuff, I just don't see how we can safely stick it in cars.
People were iffy enough about LPG in cars, and that stuff we stick in little cans and go hiking around the countryside with to run our camp stoves.
But ignoring the safety issues, did you see the size of the tank in that BMW? There can't be any space for luggage in that car, and even that huge tank gives it a rubbish range. Hydrogen is great per kilo, but the density is so low that it's awful per unit volume.