Lidar does not help with seeing lane markers. At all. Radar can’t see painted lines on a road.

That looney tunes wall “test” was ridiculous and Rober was rightly raked over the coals and lost a lot of respect over it. It was basically a marketing stunt by his friends LiDAR company, and was full of dishonesty such as poorly photoshopped phones and lies such as not even using the self driving while smashing into the wall. These glaring flaws have been covered extensively.