ARKit 4 introduces ARDepthData, providing the depth data from the LiDAR Scanner in a CVPixelBuffer on each ARFrame. Find out more info from WWDC 20 in the Explore ARKit 4 - https://www.example.com/ video starting at 15:42. As of WWDC 20, the depth data is still not formally available through AVFoundation and the builtInTimeOfFlightCamera AVCaptureDevice.DeviceType. While ARKit is a fantastic tool, it includes some overhead that is not ideal for all applications. The depth data appears to originate from AVFoundation before being sent to ARKit. Ideally AVFoundation would provide the depth data in a similar manner to the way it provides the depth data from the TrueDepth Camera. In addition it would be nice to have the confidenceMap available in ARKit for all depth data sources in AVFoundation such as the TrueDepthCamera and the LiDAR Scanner. If you are reading this, please join me in filing an enhancement request with Apple Feedback Assistant - https://feedbackassistant.apple.com/ for more depth data from AVFoundation. Thanks!

Try downloading the MacOS update from the Universal App Quick Start Program Resource Page: https://developer.apple.com/download/universal/