That’s not really the case, as Elon’s already admitted that there are at least about a half a million Teslas with old HW3 self driving computers that need to have them upgraded to HW4 for them to have the chance at eventually get the FSD the buyers were promised. That’s not even mentioning the upgraded cameras the HW4 vehicles have gotten. The reason for Musk not wanting lidar on Teslas is very simple: cost. He thinks it’s too expensive and unnecessary, unlike every single other manufacturer working on the same problem.