To my knowledge, Elon Musk only noted an insurance program they offer in China. It would be nice if they could do so in the U.S. as well. But insurance companies have worked just as hard as NADA to carve out a specific monopolistic market niche for themselves.
They even blocked Tesla from offering an Extended Warranty in States like Washington and Florida. They claimed that any paid warranty extension amounted to a guarantee, which meant it as effectively insurance. Those States apparently don't allow a manufacturer, of any product, to sell insurance for the products they build. It's perfectly OK to offer an included warranty for the purchased product, just not a separate one to purchase.