I don't have actual knowledge of the codebase but given the different sensor inputs and application, they're unlikely to share much in common behind shared libr

I don't have actual knowledge of the codebase but given the different sensor inputs and application, they're unlikely to share much in common behind shared libraries, drivers, etc. Localization w/HD maps, actor forecasting, LiDAR based detectors, etc. are generally not present in L2 systems and are much more involved.