Rivians have been spotted with giant Velodyne VLS-128 "Alpha Puck"s since several years ago [1]. But from last I checked, Rivian's ADAS is still struggling with ping-ponging in lanes on curved stretches, and it only works on a small set of pre-mapped highways. Highly doubtful that "universal hands free" is coming.
[1] https://www.reddit.com/r/SelfDrivingCars/comments/mqijd2/riv...