Since you have the lidar, I wonder if there if anything in this blog that might help
https://community.esri.com/people/GTaylor-esristaff/blog/2016/06/24/3d-workshop-feature-extraction-t... I think this is written for Pro.
Or this arcgis desktop - Building extraction with LiDAR data (Improve Process) - Geographic Information Syst...
If not, Darren's suggestions might be the best semi automated process. (Points to lines...Gen cleaning up by editing) or, again, if the points are in order....points for each building in groups, you could add a field and give a unique value for each building, then loop thru the groups to make the buildings, either with points to lines or points to polygon.
Do a web search on extracting building footprints and there are many threads on this topic (although most are aerial photos or older tech, not lidar)