Bambu released the P2S as a direct replacement for the P1S: it prints faster with a more capable AMS system. Pricing has since flipped the order. The P1S sells for $399, $150 under the P2S, which makes the P1S the budget buy and the P2S the performance buy. If the newer motion system and the faster AMS matter to you, that $150 is well spent.
Both printers share the same build volume and enclosure philosophy. Neither has Lidar, that's an X1C feature. If you need Lidar, step up to the X1C or consider the H2S for engineering materials.