Best approach would be to use both lidar and cameras. They compliment each other

No, in the limit where everyone has lidar they end up stepping on each other too. Being a totally passive sensor system is a major benefit for mass deployment, on top of the cost advantages.

Lidar is cool when you want to get a point cloud from a fixed location, or dealing with perfectly uniform surfaces (which cars don't because humans can't do this either), but beyond that there are better ways to do things.