Elon has said many times they would use Lidar if they thought it was needed / beneficial. In fact he and the SpaceX team designed a Lidar into the Dragon spacecraft to help it dock with the ISS (which is obviously a HIGHLY sensitive operation with extremely strict rules), and he said it was perfect for that scenario.

He was asked point blank if they would use Lidar as Tesla even if they were free... and he said no. In their opinion it's simply not the right approach to generate photons and read them as they come back. It's preferable to simply read the photons that are already coming in.