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.
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.