This doesn't really mirror my experience. I scheduled a test drive for a Model Y online. I drove to the nearest Tesla location in Alpharetta, Georgia (about 1.5 hours away). And then later placed an order online. A couple weeks later, I went back to Alpharetta to pick up my vehicle. This wasn't at the Tesla store, but the service center down the road.

During that time, I had ample time to inspect the vehicle and drive it. In fact, the Tesla rep went out of his way to do a thorough walk-through and inspection of the vehicle. I noticed a small smudge on the front, and they took care of it on the spot.

From reading forums, it's pretty common knowledge that if you notice any issues, so long as you note it upon pick-up (or in the first days or so), Tesla will happily take care of it free of charge.

I haven't used it, but the mobile app also makes it trivial to schedule service if needed (along with other options like roadside assistance).