Elon has publicly trashed LIDAR plenty of times. I think you should treat his rants as defenses of his products' reputation, not earnest impartial engineering appraisals. If Elon were to admit that LIDAR will play a vital role in Level 5 automation, he'd be admitting that his company has been mistaken or lying for years. I think Elon's personality precludes him coming clean on something like this.
> "it's not enough to build a full self-driving vehicle."
As far as I know, nobody is trying to build a Level 5 system using only LIDAR. The serious teams who are working on this problem are all using LIDAR in addition to cameras and radars. LIDAR can't read a street sign; cameras and computer vision will obviously play an important role in Level 5 systems for that reason and more. But the teams that aren't trying to use automation hype to sell luxury cars don't share Elon's enthusiasm for CV/radar with no LIDAR.