Bambu released the P2S as a direct replacement for the P1S: it prints faster with a more capable AMS system, and at list price it even costs less. The current market changes the math, though: Bambu's open-ended discount puts the P1S at $399, $150 under the P2S, so today the P1S is the budget buy and the P2S the performance buy. If the discount ever ends, the P2S wins outright again.
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.