LIDAR would not have made any difference if the car is not coded to handle the situation, let alone how in the hell is that even legal? We can only make an assessment of what the car saw if he were lucky enough to have the screen data as seen in car if not all telemetry from its recordings.
I own a TM3 and I do not have the "FSD beta" that is in limited testing. I will say that the car display portion of the UI really does not impress me in what it shows and does not show.
As in it is damn happy to show cones and garbage cans but I have instances where it showed me cones front and back of a vehicle but did not draw the vehicle in between. Same with a floating garbage can where sometimes the loader was visible but the truck itself would wink in and out.
I really wish people would quit ascribing super natural abilities to LIDAR let alone superiority. Plus I really want to see studies done which show the impact having hundreds of LIDAR equipped vehicles would have on people, animals, and even insect, life. (then again how many vehicles in traffic does it take to cause an issue for them)