Yes, they spend an inordinate amount of time and money writing vision for lidar.
And I think it's I wasted effort that should have been used by them to work on computer/camera vision.
Waymo did not sacrifice any effort by spending too much time on lidar. They've developed excellent computer vision as well. The fact is that camera vision alone is not enough to do safe autonomous driving because there are some situations where camera vision won't work. So if you want safe autonomous driving, it is very helpful to have both lidar and camera vision because they compliment each other. Lidar will help you in those situations where camera vision does not work.