From my perspective, it doesn't matter whether they use lidar, radar, sonar, particle beams, magnetic waves, ultrasound, etc. The problem is they're never in our lifetimes going to make software competent to handle all the rare and unpredictable occurrences that the human brain can handle. E.g.: Something falls on the road in front of you and you don't have time to stop, what do you do? The human brain will try to figure out what it is, how dangerous it would be to drive through it, how dangerous it would be to swerve, etc. and make a good decision. The Tesla will be programmed: "Object ahead; Brake immediately."
Full self driving will never happen until we have software capable of passing the Turing test. It's not going to happen in our lifetimes.