The glmnet package fits LASSO and related models via penalized maximum likelihood regression. A Tobit model can be fit by maximum likelihood, as the vignette for the R censReg package shows.
Thus in principle, as suggested in the comment from @user20160, you can use log-likelihood from a Tobit model as the loss function to combine with the L1 penalization on the coefficient magnitudes to get a LASSO model for Tobit regression. I don't know whether that's implemented anywhere for Tobit models, however.
The tobit() function in the AER package that you used is simply a wrapper for the standard survreg() function in the R survival package. It uses Surv() objects as outcomes (with values below/above the detection limit noted as left/right-censored), and specifies a family argument of "gaussian." The survreg object that it returns contains the log-likelihood for the model.
So you might pre-process your data that way into Surv() objects. Then write a wrapper function that, for any penalty value and set of predictors, calls survreg() that way, extracts the log-likelhood, and penalizes it by the penalty value times the sum of regression-coefficient magnitudes. Might be very slow, but could work as a one-off solution.
There also might be a way to exploit the ability of glmnet to allow custom families, but I don't have any experience with that.
censoringtag, is your variable censored, or is it simply bounded as it is? – Richard Hardy Jan 26 '22 at 15:24