Waymo is the best current autonomous driving system and Waymo uses LIDAR. This is because LIDAR is an incredibly effective sensor for accurate range data. Vision and Radar range data is much less accurate and reliable.

Waymo used LIDAR in the realtime control loop. It combines LiDAR, camera, and radar data in real time to build a 3D representation of the environment, which is constantly updated.

I fundamentally don't trust any level 4 system that doesn't use LIDAR