Terrain following without Rangefinder (Lidar/Sonar)

Currently I am using Benewake Lidar for terrain following in AUTO mode.

Can I perform terrain following in AUTO mode without rangefinders?

You can preload terrain data from google but its not going to be that accurate.

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https://ardupilot.org/copter/docs/terrain-following.html
https://terrain.ardupilot.org/

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