Above is correct. Any 2021 models require the "new" bluetooth TPMS, that must be purchased from Tesla. Aftermarket ones do not work.
You can:
a) Order them via calling the parts department of the closest service center
b) Go to the service center to buy on the spot
c) Via the app, book an appointment to buy them as part of a service request.
In all cases, they will require the VIN of your vehicle.
For me, when I picked up my car (2nd model 3) I just asked my delivery advisor to also go to the back and fetch me the TPMS, and he charged my Tesla account automatically and just handed me the box.