If the AI was good enough, vision-only self-driving would be at least as good as the best human.
The AI isn't good enough. I'm starting to suspect that current ML learning rates can't be good enough in reasonable wall-clock timeframes due to how long it takes between relevant examples for them to learn from.
It's fine to lean on other sensory modalities (including LIDAR, radar, ultrasound, whatever else you fancy) until the AI gets good enough.
It's safer than human drivers now. That's good enough. It will take more than that to convince world, and it should. I applaud the well earned skepticism. But I'm an old guy who has no problem qualifying for a driver's license, and if you replaced me with FSD 14.2, especially under not ideal conditions like at night or in a storm, everyone would be safer.
I predict a cusp to be reached in the next few years when safety advocates flip from trying to slow down self driving to trying to mandate it.