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It's a 50% performance boost... originally it was going to have only a very minor performance boost. The main selling point for Volta in an EV application is the significantly lower power draw.
All the older Nvidia docs say Xavier was supposed to give 20 DL TOPs @ 20 W now it's 30 DL TOPS @ 30 W
No idea about Xavier unless there's a clever piece of design which allows Tesla to swap form factors - i.e. build a PX2-sized dummy cradle which holds/connects to Xavier and duplicates the PX2 connectors when the whole thing is slotted into the car.
Shouldn't be a problem at all. Tesla doesn't use a Nvidia reference design board it is custom for Tesla. So there is no reason they couldn't make the next generation board/module have identical physical size/connectors to just drop in place of the current one.
I can't find the link right now but as I recall it was someone from Nvidia that said that Telsa used a custom board. And then there is the quote from Elon when he said that they had to redesign the board to remove the EyeQ3 chip when Mobileeye pulled out.