Same story with shuttle and that's why it looks the way it is and was as expensive as it was. It would have been a completely different vehicle if Congress weren't meddling.
The 'what' could really be anything since the article is vague, from the sensors themselves to the GNCP software that takes that info and controls the spacecraft. If they were patching the instrument(s) then they could have done anything from uploading a new configuration to memory or the even loading a new FSW build.
Based on the little info in there I'm guessing the LIDAR hardware is their already planned backup system so when the primary sensors didn't function as planned they switched over. In this scenario I'd expect the controllers to want to hold off so they can configure the LIDAR and run its self test procedures as well as configure GNCP and ground control.
A viewpoint I frequently see missing is having a truck is fun, especially when I want to go piss around outdoors. Sure a car is technically more useful/efficient day to day but it's not going to get me over sand, mud, or even slightly rough patches of ground on the weekend. I can throw a bunch of stuff in the back and don't really have to think if it'll all fit.
Construction and hauling aren't the only uses for a truck and without my Ranger my numerous moves would have been significantly more involved and annoying. Plus for road trips having the extra space over a car is more comfortable with the added benefit of the bed, which carries way more than a trunk.
I think the HN folks tend to forget about how spread out the US is and how many people drive for trips. Or maybe they've just forgot how to have fun.
Btw the Ranger is great.
Typically your best bet is going with a provider that already produces whatever item, isn't bespoke to that particular program, and has an assembly line of sorts already set up. However the other problem is they are often built in low numbers to begin with so getting hold of a flight qualified unit will most likely be an issue as well. Also everything is tightly packed together which usually makes replacing something involve messing with a bunch of other items.