Per guidelines from Fannie Mae, they imply even if the floorplans come from a third party, they should follow the ANSI Z765 standard. They state they want everyone on the same standard. Fine. However, they also seem to think that iPhone measuring apps exist that are ANSI Compliant, which means they really don't have more than a clue about what they are talking about. They don't.
But it may be that they know the technology is possible - although not via smartphones, which have to be safe for the public to use and thus cannot use the appropriate Lidar frequencies.
To accurately measure a home with Lidar, you would need a device specifically for that purpose, - emitting light around 15,000 nanometers. You would have to be careful not to point it at people or to accidentally stare at the emitter. It would be expensive. And the question remains - could you use it around a family home with kids running around? --- I don't think so.
You could also use a surveyor's base station and rover setup based on GPS and radio corrections. The kind that lets you lean the rover pole on an angle so you could place the end at the corner of a foundation and still read it. Lecia has some of those newer ones you don't have to keep vertically straight 90 degrees with the ground. But they are $10K+.
I am sure they will come up with some solution - but it will be a ways off.
Cubie Case may be good for creating a rough floorplan - but you (or the third-party inspector) should go out and the exterior measurements - per ANSI Z765.