I think the safety of other humans eyes (lidar exposure) is the real negative for lidar use.

The MKBHD YouTube video where he shows his phone camera has burned out pixels from lidar equipped car reviews is revealing (if I recall correctly, he proceeds to show it live). I don't want that pointed at my eye.

I love lidar from an engineering / capability perspective. But I grew up with the "don't look in a laser!" warnings everywhere even on super low power units... and it's weird that those have somehow gone away. :P