Some of the Tesla robotaxi deployments have relied on HD maps too, or at least they were spotted extensively lidar mapping Austin.

Those vehicles with lidar roof racks are validation for "FSD" look up project rodeo for some news reporting (they also have cameras further up mounted on a pole to validate "FSD"s reprojection technique).

Images of the cars screens show "project rodeo controls" is the only reason I say that we know these are validation vs mapping.