I have over 25k miles in an S with a yoke, there was one day where I was exiting a parking lot and the yoke was upside down and the turn signals buttons were backwards that was a slight annoyance. Other than that I have never had an issue turning with the yoke and wouldn't want to go back to a wheel that blocks the instrument cluster constantly.

There are other hand methods when using a yoke that work just as well. I think they assumed people would adapt. Considering it's already an EV maybe they thought people would be more willing to try new things.

never driven a tesla, but also steer by palming rather than hand over hand so can't people just do that?