LIDAR is not necessarily categorically mandatory, but shadow braking and other autopilot failure modes demonstrate that it or something with its capabilities are probably necessary right now to enable today's "AI" to safely drive a car. My point about active sensing being able to decide edge cases explains why this is likely the case.

IMHO doing without precise active sensing would require a breakthrough in AI that hasn't happened yet.

On the plus side the fact that Tesla's autopilot is able to work as well as it does without lidar might indicte that with a lidar system it might be the best autopilot on the market. Who knows.