Waymo explicitly lidar scans and "HD maps" the area:

https://waymo.com/blog/2020/09/the-waymo-driver-handbook-map...

Tesla is less "HD", they have standard maps like we all think of, and a lane level "see-ahead" system where they basically just grab a satellite image tile, and align it with what the car sees for "FSD".

They actually do significant mapping. Where it operates currently it is not unusual to see this. It will be a waymo with a human driver operating someplace not currently in the waymo zone and clearly not en route to any maintenance facility either. Stuff like windy canyon roads with no thru access anywhere that are currently gated away, you might see a waymo with a human today.

Waymo is not the only company making lidar maps right now either. I've seen UPS deliver trucks with retrofitted lidar scanners on the roof now. I've even seen this on a police car already, looked like a black rooftop industrial ventilator on a 2ft mast installed directly on the crown victoria roof.