Must GNSS, LiDAR and IMU all be used during mapping if I want later GNSS initialization?

[LPARKOUR]

If I want to use GNSS to initialize the initial position, do I have to collect and map with all three sensors (LiDAR, IMU, GNSS) during the mapping phase?
I’d like to use GNSS only for initialization. The map was built purely with lidar_slam_ros2 (LiDAR-only). Afterwards I return to the origin, read the GNSS position, set the MGRS frame in vector_map_builder and export the map. Should this workflow allow GNSS-based initial localization? I tried it but the node crashes; I’m not sure if the failure comes from the way I recorded the map.here is my log:

[autoware_pose_initializer_node-42] [INFO] [1764229935.092658551] [localization.util.pose_initializer]: Initialization method received: 0
[autoware_pose_initializer_node-42] [INFO] [1764229935.092808503] [localization.util.pose_initializer]: Executing AUTO initialization method
[autoware_pose_initializer_node-42] [INFO] [1764229935.093646684] [localization.util.pose_initializer]: EKF triggering service is available!
[autoware_ekf_localizer_node-44] testttttttttttttttttttttttttttt
[autoware_pose_initializer_node-42] [INFO] [1764229935.103436367] [localization.util.pose_initializer]: EKF Deactivation succeeded
[autoware_pose_initializer_node-42] [INFO] [1764229935.106004092] [localization.util.pose_initializer]: NDT triggering service is available!
[autoware_pose_initializer_node-42] [INFO] [1764229935.108530793] [localization.util.pose_initializer]: NDT Deactivation succeeded
[autoware_pose_initializer_node-42] [INFO] [1764229935.109113228] [localization.util.pose_initializer]: Attempting to get GNSS pose
[autoware_pose_initializer_node-42] [INFO] [1764229935.109156876] [localization.util.pose_initializer]: GNSS module is available, retrieving pose
[autoware_pose_initializer_node-42] [INFO] [1764229935.109190604] [localization.util.pose_initializer]: fit_target: pointcloud_map, frame: map
[autoware_pose_initializer_node-42] Failed to find match for field 'x'.
[autoware_pose_initializer_node-42] Failed to find match for field 'y'.
[autoware_pose_initializer_node-42] Failed to find match for field 'z'.
[autoware_pose_initializer_node-42] [INFO] [1764229935.124301083] [localization.util.pose_initializer]: Call align server.
[autoware_ndt_scan_matcher_node-40] [ERROR] [1764229935.131806210] [localization.pose_estimator.ndt_scan_matcher]: update_ndt failed. If this happens with initial position estimation, make sure that(1) the initial position matches the pcd map and (2) the map_loader is working properly.
[autoware_ndt_scan_matcher_node-40] [WARN] [1764229935.132046531] [localization.pose_estimator.ndt_scan_matcher]: No InputTarget. Please check the map file and the map_loader service
[service_log_checker_node-7] [ERROR] [1764229935.136448186] [system.service_log_checker]: /localization/initialize: status code 4 'align server failed.' (/localization/util/pose_initializer)
[service_log_checker_node-7] [ERROR] [1764229935.142279928] [system.service_log_checker]: /localization/initialize: status code 4 'align server failed.' (/adapi/node/localization)
[service_log_checker_node-7] [ERROR] [1764229935.142484473] [system.service_log_checker]: /api/localization/initialize: status code 4 'align server failed.' (/adapi/node/localization)
[service_log_checker_node-7] [ERROR] [1764229935.144593924] [system.service_log_checker]: /api/localization/initialize: status code 4 'align server failed.' (/localization/util/default_adapi/helpers/autoware_automatic_pose_initializer)
[component_container_mt-4] [WARN] [1764229935.612454208] [system.system_monitor.ntp_monitor]: Timeout occurred.
[autoware_ekf_localizer_node-44] [WARN] [1764229935.661619167] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer

Or is it mandatory to build the map with LiDAR + IMU + GNSS (e.g. LIO-SAM) before GNSS initialization can be used at all?