I honestly think Tesla is past the point where lidar would provide significant benefits. I've tried FSD for a month or two and it can see everything but just drives like an idiot. Lidar isn't going to help it merge properly, change lanes smoothly, take left turns at lights without blocking traffic, etc.

Check out what the Tesla park assist visualization shows now. It's vision based and shows a 3D recreation of the world around the car. You can pan around to see what's there and how far away it is. It's fun to play around with in drive thrus, garages, etc. just to see what it sees.

It should help for disambiguating scenarios that lead to phantom stops or not stopping on time, which has killed Tesla drivers before, such as by driving full speed into the back of a truck with some glare.