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".
Waymo does high resolution scans, the question only they know the answer to is how well does their model do without them and on camera only. I bet it's way better than is publicly acknowledged.
Those vehicles with lidar roof racks are validation for "FSD" look up project rodeo for some news reporting (they also have cameras further up mounted on a pole to validate "FSD"s reprojection technique).
Images of the cars screens show "project rodeo controls" is the only reason I say that we know these are validation vs mapping.