For the advancement of science I was out today to test that: I’d say, it is not possible to map cliff height from LIDAR hill-shades. Not even with contour lines, unless the cliff is more than ~1.5contour separation m high (crude adaption of sampling theorem). Sample picture:
The vertical yellow bar is 2m high, the horizontal bar is the location of the other photo, GPS reading shows it 1m altitude apart from bottom view photo. So it is not even possible to map that from (consumer grade) GPS.
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Ce sujet de discussion accompagne la publication sur https://community.openstreetmap.org/t/mapping-cliff-height/108319