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@spectralflight - If the sensor you are trying to test already puts out a point cloud, you should just be able to remap that to /points_raw and give it the frame lidar and everything in Autoware should work with it by default. You may also need to try the frame velodyne in some cases, but we are trying to make lidar the default to be vendor-agnostic. As for "supported hardware", there really isn't a set for Autoware.ai. However, there is a new Autoware Reference Platform Working Group which you can read more about at https://discourse.ros.org/t/wg-rp-autoware-reference-platform-definition-documentation/9949.
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