QGC Ardupilot Terrain following using Lidar on Pixhawk 2

1.) If Autopilot on a Pixhawk 2 with lidar is used, can QGroundControl support terrain following?

2.) If not, what is restricting the support?

3.) If the restriction is related to unsupported maps, what is restricting terrain following by lidar exclusively?

What can we do to make this work? Should QGC software be modified, Ardupilot, or both?

QGroundControl Stable Version 3.4 Release Notes states that Ardupilot is not supported for terrain following: https://docs.qgroundcontrol.com/en/releases/release_notes.html