I had the same thing on the left front brakes on My S. Annual brake cleaning helps, but I also now do a light touch of the brakes before going into the garage after it’s been raining. I also go backward and forward with brakes applied for a further wipe. I end by checking the rotors for water and wipe or spray compressed air to remove moisture as needed. Never had the issue since.
Two quotes from the Model S owner's manual:
After cleaning the vehicle, dry the brakes by
going on a short drive and applying the
brakes multiple times.
And this one, which surprises me because I only recently discovered it (in the November 2019 manual):
Model S is equipped with brake disc wiping, which automatically assists in maintaining
brake responsiveness in cold and wet weather conditions. When such conditions are
detected, brake disc wiping repeatedly applies an imperceptible amount of brake force to
clear away water on the brake disc surface. This ensures your brakes are responsive even
during poor weather conditions.
I do not think this feature was in Model S when my car was made (2015) because it is not mentioned in an earlier version of Owner's manual I have from early on in my ownership. Could it have been added by a software update? or does it require physical changes to the brakes? If it needs a different physical brake assembly, then only cars newer than mine would have it. Good feature, either way.