Just picked up our Model S Plaid yesterday and have about 300 miles with the yoke. My opinion thusfar: it is utterly stupid at best and really, really dangerous at worst. It is awkward in general and downright difficult to use in any position past 90 degrees in either direction. That clumsiness translates to driver inattention and hesitancy which could easily result in an accident. It has not gotten better over 300 miles of driving so far. I expect it will, but it will never be "better" than a wheel. Elon Musk romanticizing the Knight Industries Two Thousand is dangerous for everyone. Someone really should have told the emperor he wasn't wearing any clothes on this one. Hopefully,
NHTSA will do so and Tesla will be forced to replace this abomination with a real steering wheel. It will make everyone on the road safer.
The elimination of stalks is equally stupid/dangerous. Buttons for everything are clumsy and having to take your eyes off the road to find and use them is absurd. The directionals are annoying but I think I can get used to them over time. Lesser-used buttons will be more problematic. Imagine seeing a deer about to jump into the road and then having to look down at the stupid-ass steering yoke to find the tiny little horn button (which isn't actually a button but more of a "spot" on the yoke). Moronic. Both the yoke and the removal of the stalks are solutions in search of problems.
I am regularly shocked at just how incompetent even basic Autopilot is, let alone full self-driving -- but at least customers can opt out of that. Eliminating stalks and forcing a yoke on people who want them (and at the expense of safety) seems like a cynical gambit to generate acceptance of a system that is nowhere near and may never be truly viable.
It is not enough of an issue to prevent me and many others from buying an otherwise remarkable car, but I personally did so in spite of these decisions and not because of them. Seeing and using them in real life made me realize just how inconvenient and dangerous they really are. It could also be the type of thing that will prevent truly widespread acceptance of Tesla's cars and fundamentally undermine their market position over time. If they ever add this thing to the 3/Y, I think they'll sink like a stone. And that would really be too bad.