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Try contacting AutonomouStuff or Mandli. They do this routinely for customers (I used to work at AS). The process is very complex and involves a lot of manual labelling. You definitely won't find an automated tool that will do it for you.

Regarding using the maps, Autoware.ai contains a lanelet2aisan tool which will convert Lanelet2 maps to the proprietary Aisan "vector" map format. Also, as of version 1.13, it also contains tools to directly load Lanelet2 maps without using the Aisan format.