I mean, humans have only their eyes. And most of them intentionally distract themselves while driving by listening to music, podcasts, playing with their phones, or eating.

I get your point about camera vs lidar. Humans do have other senses in play while driving though. We have touch/vibration (feeling the road surface texture), hearing, proprioception / acceleration sense, etc. These are all involved for me when I drive a car.

To be fair, humans are fairly poor drivers and generally can't be trusted to drive millions of miles safely.

Actually humans are fairly good drivers. The average US driver goes almost 2 million miles between causing injury collisions. Take the drunks and drug users out and the numbers for humans look even better.

I don't think averages work that way

Incorrect. Humans are fairly good engineers, so cars are pretty safe nowadays.

If you include minor fender-benders and unreported incidents, estimates drop to around 100,000–200,000 miles between any collision event.

This is cataclysmically bad for a designed system, which is why targets are super-human, not human.