While competitors remain reliant on lidar, Tesla has dispensed with any need for lidar by developing a radar system with superior performance to lidar.  Replicating Tesla’s advancements in radar requires fleet learning. No car company or software company besides Tesla has any experience implementing fleet learning in a production environment. Since Tesla developed its radar system two years before affordable lidar will be available, and since it has other advantages, it seems likely that Tesla will achieve full self-driving in its production cars one to two years before any competitor.