Which part of the hardware do you think is deficient?
Until the autopilot rewrite is complete, I personally think it is too early to tell. If it not up to it at that point, Tesla will have no where to hide.
I do feel though that V2I capability will be needed medium term, but that will be software and an upgrade to the LTE radio I suspect. Lidar is I believe a short term fix only and Tesla will crack the vision/radar based approach. It is clear that Tesla currently have still some way to go, but they have not yet exhausted the techniques available them with current hardware set. The autopilot rewrite will be a big step, but still further improvements will be available, they will not have exhausted the capabilities of current hardware. If they ever embrace V2I (there are things possible with that which a car cannot solve on its own no matter what sensors it has), that will also be a big step likewise some form of HD mapping, the latter I am not a fan of because it has serious practical limitations. That will be the point when FSD should be capable of meeting its objectives, but whether it will or not will be up to Tesla to accept that embracing the way that others do things would also bring benefits.
I think at some point, Tesla will be forced to adjust how they detect driver awareness and possibly geofence self drive capabilities, the former may require internal camera capabilities to be modified - there are far better ways than steering wheel torque sensing. B pillar cameras will also likely get a demister (although autopilot rewrite and redundancy it brings may make misting of these cameras less of an issue), likewise a heater for front radar for extreme conditions. The only sensor missing that I would like is rear facing radar (along with upgrade to forward facing radar capabilities). So apart from missing rear facing radar (which isn't strictly necessary), the missing capabilities would be relatively inexpensive upgrades.
imho.