I have this same question. I have a Samsung USB SSD that I've been using for 1.5 years now, after partitioning as advised at the time (FAT32, two partitions, TESLACAM for dashcam and MEDIA for music). My car does NOT have a USB in the glovebox (Nov 2019 build). I tend to get file system errors with the TESLACAM partition when plugging into Windows, and I am wondering if I should be using exFAT for that partition now. Now issues with the MUSIC partition.
I wish Tesla was more clear about this. The manual just seems out of date...