The important distinction here is that dealerships don't constitute direct sales since they are not owned nor operated by the manufacturer. The question @pedrocr posed was why would it be necessary for Tesla to begin working with third-party dealerships at scale - they could still continue building their own showroom floors and continuing direct sales through their own channels. If they continued their direct sales process, it would not be ironic, as you claim, since they'll still be circumventing the dealership middleman.
Note: This has nothing to do with good/bad experiences. That's not what defines a dealership.