BTW, here's RJ Scaringe's take on moving downmarket (R2 way more important than R1), software-defined vehicles, and autonomy:
Swisher will insert her Elon hate every chance she gets, but RJ is too smart to take the bait. That said, he has a very similar view to Musk, and I hope he's successful, too.
One tidbit was that Rivian put lidar on the Gen-2 R1 vehicles not to enable autonomy, but to gather data ("ground truth") for future autonomy. Another is what Tesla doesn't talk about, which is the change everyone has made in autonomy from separate AI-perception code bases paired with human-coded driving policy, to an all-AI codebase. Tesla literally had to start over, and my guess is that was about the time Karpathy left Tesla.