Full self driving (Level 5) with only cameras won't happen. You need an extra sensor suite running simultaneously in parallel to account for any faults/errors/malfunction/artifacts/etc.It's possible that full self-driving can be achieved just with cameras.
But it's also possible that it can't.
Given that LIDARs are less than $1000 now, you might as well add them as it will help with self-driving.
Visual spectrum sensors are just too prone on making errors to be exclusively relied upon to achieve Level 5 self driving
No sane regulator on planet Earth will allow full self driving cars which are only equipped with cameras for the foreseeable future. Having LiDAR and cameras is the bare minimum