They can't add them now to new vehicles because they promised the vehicles back then are only a software update away from full autonomy [1]. Building on Lidar now would mean developing on 2 heavily differentiating stacks. Going back on the promise of old Tesla's being "FSD capable" would introduce a huge liability.
Long story short, Tesla's stance on Lidar determined 8 years ago, without the option to revise the decision with future developments.
[1] Note this has turned into "we'll only have to replace the computer in the car", which is still doable, contrary to adding sensors to the existing vehicle.
Or even worst, just managing an empty intersection (video at correct time): https://youtu.be/wTybjJj0ptw?t=280
At which point releasing software so bad, becomes a criminal liability? Another one at correct time: https://youtu.be/wTybjJj0ptw?t=652
There are simply no words...Correct time: https://youtu.be/wTybjJj0ptw?t=722
Should not be allowed out of the labs...