I think the best evidence for Tesla doing poorly here (or maybe that LIDAR really is necessary) is precisely that they have all this data and still aren't doing as well as others. Tesla has a seriously absurd advantage here: they can observe millions of drivers and see when the human drivers do things differently than their self driving software would have, and capture the data from those events. They've had this advantage for many years, and yet, they still don't seem to be performing that much better (if at all) than competitors.