If something fails on your car after the warranty period, should it be replaced for free then? It's great that some parts last for much longer than the warranty, but don't kid yourself in thinking that Toyota would honor a ball joint or suspension piece for 200,000 miles or more.
If anything, you should be comparing similar vehicles. Compare the Model S to a Mercedes S class, or a BMW 7 series car. For example, a common complaint of these cars is the air suspension goes bad and has to be replaced for $2000/wheel. There's a warranty, and if it happens in that warranty it's covered for free. But if the air suspension goes out after warranty, no one bats an eye and expects it to be covered for free.