Object detection is solved; I'm not sure if everyone advocating for LIDAR is theorycrafting or just hasn't watched any FSD Beta videos, but all of the mistakes the system makes in the course of the drive seem to fall into the realm of unperformant decision-making, like predicting what bikes or pedestrians are going to do, or being too timid to enter a roundabout with another car also entering the roundabout to your left, or stopping in the middle of the road on a divided highway during an unprotected left turn to yield for right traffic (instead of positioning itself parallel to the traffic in the median in the first place).