> lidars don't work well in rain/snow/fog.

Neither do cameras, or eyeballs.

When it's not safe to drive, it's not safe to drive.

I've been in zero-road-speed whiteout conditions several times. The only move to make is to the side of the road without getting stuck, and turning on your flashers.

Low-light cameras would not have worked. Sonar would not have worked. Infrared would not have worked.