For those specific cases no, but it makes a great source to identify physical objects and their placement in the world. Obviously that can be done to a sufficient degree with just stereoscopic vision, but look at all of the autopilot fatalities from Tesla. All too often vision and radar data gets misinterpreted as "That must be an object to the side of the road" right up until it crashes into it. With lidar you can be sure you're not just looking at a radar reflection or getting the perspective wrong on a camera. Almost all of the large objects that you want to make sure you never hit will show up well with lidar.

https://en.wikipedia.org/wiki/Tesla_Autopilot#Incidents

Just about every one of those fatalities can be summed up as "Tesla ignores large stationary object directly ahead". Lidar would have detected all of those objects and most likely prevented every one of those accidents. I think Tesla currently has the best vision and radar only system out there, so either the state of the art doesn't quite cut it yet without lidar, or there's a ML engineer at Tesla that really really hates fire trucks.