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Wonder if it was because the tires were deflated to 30 psi and they started to drive on hard surfaces? They were done with offroading. Once they cleared the codes and bumped the tire pressure back to 50 psi, no problems.
Luckily he had a Tesla Tech on site to clear the codes. It wasn't clear whether it was drivable with the codes or not. Hopefully this does not void his warranty as stated in the owners manual.