They surely have as Waymo have a much better safety record than Tesla and that's even with Tesla hiding and obscuring their crash data - probably outright lying about most crashes if Musk has any input to their processes.

The big advantage of Lidar is that it can easily pick out obstructions and that's a good ability for a driver to have, whereas Teslas can get fooled by shadows etc. It seems obvious to me that having cameras and Lidar allows for much better analysis of traffic and pedestrians.