Just to be clear, this article is talking about the possibility that this might happen one day. LiDAR remains prohibitively expensive AFAICT.

This is not quite true. It depends what you're talking about. Automotive LiDAR sensor prices typically range from $150–300 today for standard units. Mid-range ADAS systems (Ls+/L3) sensors are about $600-750 and the long-range units used by robo-taxis like Waymos are about $1,500–6,000 or more per sensor

https://www.fleetowner.com/technology/article/55316670

The ~$75k per sensor in 2015 refers to the long-range sensors. 99% of production is from 4 Chinese companies: Hesai, RoboSense, Huawei, and Seyond.