All of them use both, and in multiple instances of each. So they might have two front LiDARs, two side LiDARs, one rear LiDAR, one front and one rear radar, ult

All of them use both, and in multiple instances of each. So they might have two front LiDARs, two side LiDARs, one rear LiDAR, one front and one rear radar, ultrasonic sensors etc. and then perform a sensor fusion to map car's surroundings.