In recent years, the applications of lidars for remote sensing of the environment have been expanding and deepening. Among them, continuous-wave (CW) range-resolved (RR) S-lidars (S comes from Scheimpflug) have proven to be a new and promising class of non-contact and non-perturbing laser sensors. They use low-power CW diode lasers, an unconventional depth-of-field extension technique and the latest advances in nanophotonic technologies to realize compact and cost-effective remote sensors. The purpose of this paper is to propose a generalized methodology to justify the selection of a set of non-energetic S-lidar parameters for a wide range of applications and distance scales, from a bench-top test bed to a 10-km path. To set the desired far and near borders of operating range by adjusting the optical transceiver, it was shown how to properly select the lens plane and image plane tilt angles, as well as the focal length, the lidar base, etc. For a generalized analysis of characteristic relations between S-lidar parameters, we introduced several dimensionless factors and criteria applicable to different range scales, including an S-lidar-specific magnification factor, angular function, dynamic range, “one and a half” condition, range-domain quality factor, etc. It made possible to show how to reasonably select named and dependent non-energetic parameters, adapting them to specific applications. Finally, we turned to the synthesis task by demonstrating ways to achieve a compromise between a wide dynamic range and high range resolution requirements. The results of the conducted analysis and synthesis allow increasing the validity of design solutions for further promotion of S-lidars for environmental remote sensing and their better adaptation to a broad spectrum of specific applications and range scales.