Three months ago, I wrote a reply explaining my position in TSLA. Now that we all have the benefit of hindsight, we're in a position to have a much more sensible conversation than the one I tried to have in March:

https://news.ycombinator.com/item?id=22970810 (I encourage you to read the whole thread, of course)

Just read the post your mentioned and you do have some good arguments. That said I am no expert but I do believe in the LiDAR approach. It will probably allow other companies such as Waymo to get to level 4+ autonomy before Tesla reaches a working FSD. So there is a possibility that Waymo or another company using LiDAR and HD mapping will eat the robotaxi Pie before Tesla is able to compete.