If this is happening it would be easy to detect by the upload bandwidth spiking during AR mode.
The 3D scan mode is a specific feature you have to use in the app that uploads 100s of megabytes afterward. It advises you to go on WiFi to do it.
If the AR mode was secretly uploading images that would be a scandal in itself.
I feel like users and readers instinctively know these limitations. We work with digital maps all the time that are out-of-date. Google and Apple don't and can't know any and all road closure and vehicle accidents in real time. Your car's radar road mapping service is as up-to-date as anything, but you still may be the first person to ever encounter a sinkhole or pothole that just appeared and it won't be on the map until you discover it. Satellite data is even more out of date because it can't be as frequently updated. There aren't anywhere near as many sensors in orbit or aerially as there are on the ground.
I haven't played PoGo in a while, but Niantic used to have human moderators and also tried to crowd-source some quality control on these world models because they knew 99% of the scans they received were bunk, either of nothing, the wrong thing, the right thing but in the dark or from an obstructed angle. I have no idea how good a job they ever did of cleaning that up, but it's a difficult task and it's never done because the world is always changing. There's only so much you can do here. Technology isn't magic.