Lidar produces a monochromatic 3D scene, which you can also extract with cameras using SLAM techniques. But these scenes simply do not carry the information needed to navigate the world - you only get one colour, so you cannot see signs, markings, lights, anything. LIDAR is thus a small, secondary input to the problem of "perception".

Once you've accurately perceived the world, the hard part is the action, and the judgement needed to drive safely. It doesn't matter how you got your labeled 3D scene (LIDAR or SLAM), you have to figure out how to navigate it safely and this is more like 90% of the self-driving challenge. If you look at videos of the latest FSD in action (12.5) perception is not an issue. Teslas see everything just fine, they don't disengage because they didn't see a car, but because their judgement is not human level yet.