Fixed lidar sensors are not as reliable as it’s made out to be, unfortunately. Dome lidar systems like those found on Waymo vehicles are pretty good, but way more advanced (and expensive) than anything you’d find in consumer vehicles at the moment. The shadows of trees are enough to render basic lidar sensors useless, as they effectively produce an aperiodic square wave of infrared light (from the sun) that is frequently inseparable from the ToF emission signal. Sunsets are also sometimes enough to completely blind lidar sensors.

None of this is to say that Tesla’s previous camera-only approach was a good idea, like at all. More data is always a good thing, so long as the system doesn’t rely on the data more than the data’s reliability permits. After all, cameras can be blinded by sunlight too. IMO radar is the best economical complementary sensor to cameras at the moment. Despite the comparatively low accuracy, they are very reliable in adverse conditions.