Well, it was interesting to watch Elon's rant about Lidar.

But!

He was speaking about the LIDA which is at the moment used in the competitor's cars - using visual light and with moving parts. And I completely understood that such slow LIDAR is not increasing the available information to be used by his neural network - but just significantly increasing cost.

The situation is changing when using a different wavelength like IR to be able to see through fog, rain and the dark - wherever our eyes, as well as cameras, will get to their limits.

So I would see Mr. Musks statement as a valid argument against existing LIDAR systems, but I am quite sure he would use a good solid state IR-system to increase safety - even that it is not necessary for a FSD-robotaxi.