Is there some spectrum of emissions from an even stealthy sub, some kind of "local presence"? The immediate massive obstacles would result in distortions to such a self-presence profile. So the sensors could be trained to detect such local distortions, almost like some fish have a lateral line of nerves supposedly helping detect current flows etc. [1].
Turns out, this has been modeled already (2007):
[1]:https://www.photonics.com/Articles/Fish_Navigation_System_Re...
https://www.cbsnews.com/news/whos-to-blame-for-sub-accident/
There is little or no light at typical operating depths. Lidar can work to a limited extent in some water conditions but it's not something to rely upon for collision avoidance.
And, of course, it's an active sensor. An adversary could detect the emitted light.