Earlier quoted context omitted.
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".
Some of the Tesla robotaxi deployments have relied on HD maps too, or at least they were spotted extensively lidar mapping Austin.
Images of the cars screens show "project rodeo controls" is the only reason I say that we know these are validation vs mapping.