I believe they don't have yearly production goals, but Musk has stated that they aim at growing at 50% over the long-term [1]. These are some snippets for short-term forecasting from Tesla Q4 Earnings:

'Over the past few weeks, we have been upgrading our Freemont Factory to launch the new Model S and Model X'

'Gaga Shanghai has demonstrated the ability to sustain Model 3 production at or above a run rate of 250,000/year'

[1]https://www.cnbc.com/2021/01/27/tesla-tsla-earnings-q4-2020....

[2]https://tesla-cdn.thron.com/static/1LRLZK_2020_Q4_Quarterly_...