I don't this is correct. Most major manufacturers have an EV or plug-in line now, which you can buy at their normal dealerships - the Ford Mustang Mach-E, the Chevy Bolt for example. VW group and Nissan have their own lines.
New York does not allow a manufacturer like Rivian to sell directly to the customer. They must go through a dealer. Tesla has an exemption but only for them.