[mikejb]

I think it's not just that. When Tesla started to with their FSD journey, they had to determine what sensors they can add to the car. Lidars back then were way more expensive than they are now, and it wouldn't have been feasible to add them at that time.

They can't add them now to new vehicles because they promised the vehicles back then are only a software update away from full autonomy [1]. Building on Lidar now would mean developing on 2 heavily differentiating stacks. Going back on the promise of old Tesla's being "FSD capable" would introduce a huge liability.

Long story short, Tesla's stance on Lidar determined 8 years ago, without the option to revise the decision with future developments.

[1] Note this has turned into "we'll only have to replace the computer in the car", which is still doable, contrary to adding sensors to the existing vehicle.