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Funny thing about Musk spending a decade+ insisting he (meaning screamed at and traumatized Tesla programmers) could figure out FSD without lidar…
…Yep he finally went back on that:
https://www.theverge.com/2024/5/7/24151497/tesla-lidar-luminar-elon-musk-sensor-autonomous
Finally they went back on that… not for the production cars, but at least for validation purposes