Yes. The steering wheel needs to be turned slightly for the car to drive straight.
Don't let the Tesla SC folks tell you this is normal and within spec! This is BULLCRAP.
The car needs to have an alignment done, not for the alignment per se since your car is tracking straight, but the steering wheel needs to be aligned. And don't let the SC tell you that they can't straighten a steering wheel because they can't remove the steering wheel and shift it over a spline.
Your car needs to go to an alignment shop where they will loosen the tie rods, clamp the wheel straight (or have someone hold the wheel straight), and then tighten things down again. While they're at it they will re-do the alignment too.
I had a new car where the wheel was slightly canted and it pulled slightly too. Dealer service center did the alignment and the car still pulled slightly and the wheel was never straightened. Service manager claimed they can't straighten the steering wheel. Even when I told him a steering wheel can be straightened without removing a steering wheel, he shrugged and said his "technicians" told him they can't straighten the wheel.
I took my new car to a local race shop and I paid $140 dollars to have the wheel straightened. The guy doing my job had me sit in my car and hold the steering wheel straight while he tightened everything down. Their alignment numbers also showed that the dealer alignment machine was out of spec since their numbers didn't match up.
I contacted the dealer service manager I had dealt with and sent him the alignment sheet of my newly done alignment and told him my steering wheel is now straight and that their machine was likely in need of calibration. He thanked me and sent me a check to pay for the $140 alignment and wheel straightening job.
It's amazing how a slightly off center steering wheel can take away the enjoyment of a new car. hahaha. Now my wheel is perfectly straight and the car tracks straight as an arrow and the car is more enjoyable to drive.