I suggest looking at a rotating lidar with an infrared scope... it's super, super informative and a lot of fun. Worth just camping out in SF or Mountain View and looking at all the different patterns on the wall as different lidar-equipped cars drive by.

A typical long range rotating pulsed lidar rotates at ~20 Hz, has 32 - 64 vertical channels (with spacing not necessarily uniform), and fires each channel's laser at around 20 kHz. This gives vertical channel spacing on the order of 1°, and horizontal channel spacing on the order of 0.3°. The perception folks assure me that having horizontal data orders of magnitude denser than vertical data doesn't really add value to them; and going to a higher pulse rate runs into the issue of self-interference between channels, which is much more annoying to deal with then interference from other lidars.

If you want to take that 20 kHz to 200 kHz, you first run into the fact that there can now be 10 pulses in flight at the same time... and that you're trying to detect low-photon-count events with an APD or SPAD outputting nanoamps within a few inches of a laser driver putting generating nanosecond pulses at tens of amps. That's a lot of additional noise! And even then, you have an 0.03° spacing between pulses, which means that successive pulses don't even overlap at max range with a typical spot diameter of 1" - 2" -- so depending on the surfaces you're hitting, on their continuity as seen by you, you still can't really say anything about the expected time alignment of adjacent pulses. Taking this to 2 MHz would let you guarantee some overlap for a handful of pulses, but only some... and that's still not a lot of samples to correlate. And of course your laser power usage and thermal challenges just went up two orders of magnitude...