I think one of the main reasons for Tesla to use only vision is that then the mistakes the system makes will be more understandable and thus acceptable to human

I think one of the main reasons for Tesla to use only vision is that then the mistakes the system makes will be more understandable and thus acceptable to humans. The way radar and lidar systems fail and cause wrecks will seem strange to humans, like running into stationary objects. Even if using these sensors would make system better overall, they might not be worth including if one is shooting for human acceptance of the system as fit for use. An autocar seeing something that looks like a red light and breaking (or breaking for a bit and then continuing after deciding it was not a red light) is going to be acceptable to people because that is how they behave. Phantom breaking due to some radar or lidar input that the human can't perceive is going to be interpreted very negatively. I imaging auditory might be added at some point, if it is not already being used.