There is tons of competition, if you want an EV, the 3 is a far far better deal. If you just want a big luxury car, then there are the slew of German competitors. According to Tesla they can do FSD on AP 2.0, so there is no need for LIDAR.
Right now the biggest thing keeping the S alive is the production issues with the 3.
Not that this is the most likely scenario but Tesla is under no obligation to continue production of S and X. Like some mentioned, Tesla wants to advance electric vehicles, selling 6 figure cars is not the best way. Selling electric vehicles as cheaply as possible is the way to accomplish that. They already baited all other manufacturers to go electric, Tesla’s job is almost complete