I've been playing around with SLAM using a depth camera, so I can't really tell you about LIDAR specifically, but I'd suggest doing some Deep Researches on the topic to get you a good lay of the land. During my searches for example, I came across this great compilation of visual SLAM projects: https://github.com/VSLAM-LAB/VSLAM-LAB

Unless you're a massive operation, you're probably just using an existing academic project, many of which handle a variety of inputs (depth, 2D lidar, 3D lidar etc), ie RTABMAP (what I started with), ORB-SLAM, nVidia Issac ROS SLAM (if you're on Jetson) etc. AMCL is an old-school algorithm for localization with 2D data - I tried it by taking a fake 2D scan from the depth camera and it was pretty terrible, so currently I'm trying to get visual-only SLAM working well enough for me because I don't want to spend $1k on a decent 3D lidar.