IIRC Tesla disabled all of their dedicated hardware sensors in an OTA update, due to these sensors being excluded from new vehicles manufactured during the shortage. The autopilot system is vision only now, despite the engineers best efforts to keep hardware sensors in the vehicles
The changes are being rolled out with the latest over-the-air (OTA) Tesla update 2022.20.9 confirmed for Model X, Model S, and Model Y. The update is adding Tesla Vision to the older vehicles equipped with radar