Based on previous discussions Teslas cannot do what you are asking for without LIDAR, Musk would have to admit he made a mistake on not using LIDAR and invalidate the sensor suite on all Teslas on the road.
If they admit that radar + optical cameras won't be good enough for full self driving, there may be a lot of refunds to process.
From first principles, just optical cameras should be enough - humans can do it. But the software to make it work could be general AI level complex. Personally I think LIDAR self-driving will be available in less than 5 years, but optical may take 30 years. And the company who would be most capable of developing optical self-driving AI is Google, the fact that they are sticking to LIDAR is a good indication of the complexity of optical.