For the Roadster, after two failed attempts at transaxle design (with two speeds), Tesla convinced Borg Warner (very experienced in transmission design and manufacture) to bail them out with a low volume (one speed) transaxle.
For the S, I think Tesla did the transaxle design in-house. I think that is what changed. It is likely that the transmission designers that Tesla hired did not have the collective knowledge that the B-W team did. Even with only one speed, gearbox design can be tricky.
Most drive unit issues are the "milling sound." One theory of failure that was posted here at TMC was that the bearings were not sized to handle the axial forces. This could be hard for Tesla to correct if there is not enough space in the housing for larger bearings.
Hopefully Tesla applied lessons learned on the S rwd drive unit to the new "D" front and rear drive units. Model 3 drive units will be a third generation of Tesla in-house design, and have potential to be a very good design.
GSP