Lidar is coming down significantly in the next few years and is available from multiple tier 1 automotive suppliers. Technologies like high power vcsel arrays and highly integrated and photosensitive SPAD arrays/detector logic are making this possible. Prior lidar devices used non automotive grade discrete components like edge emitting laser diodes, high speed adcs, and APDs. These were expensive and hard to integrate, and aren't present in mass market inexpensive AM lidar coming to the market.

A LIDAR sensor is a complex device with spinning motors, mirrors, lasers and more. Costs are coming down and less-expensive and more capable devices are coming to market. Once the price-points come way down, I wouldn't be surprised to see Tesla reconsider their decision to exclude them from their sensor platform.