I’ve worked on serious projects involving LiDAR. The LiDAR you need at these speeds and with this resolution cost almost as much as an Electric Car - it’s too expensive to reach wide adoption. But video processing with CNNs/RNNs has proven you can build the same level of data with cameras. You don’t even need binocular cameras now - if objects are moving you can generate binocular data by combining IMU data with time-series imagery.

As I understand it, Tesla’s delays aren’t related to image capture (which is where LiDAR could help). They’re related to trying to find universal actions to take against an almost infinite number of possible scenarios (mostly actions by human drivers).