I don't think interpreting the lidar data and integrating it is a super-tough problem, it kinda comes in 3D, unlike stereoscopic vision. So I take it this means that the Lidar data rarely differed and it rarely mattered when it did.
Elon's companies have a long history of handling complexity very well (even, you know, actual rocket science) precisely because they relentlessly simplify everything they can. Raptor one is more complex that Raptor two, but I'll take the latter any day. Nobody else has a full-flow rocket engine. Many previous attempts were swallowed by the complexity of the task. Even Raptor one looks like a rat's nest - but unlike other attempts, it worked.
Tesla's manufacturing margins are far out in front of any other car company (see David Lee On Investing podcast.) Having simpler, larger parts made by much larger pressing machinery is a big part of why. Looks like they are (now) handling the complexity of manufacturing very well.