I rotate and change my own wheels all the time. Did this with my Model S for 3 years, now doing it with the Model 3.
Biggest thing is that you will need some equipment, which will cost a bit. At a minimum, you'll need:
- Floor jack
- Hockey puck or other item to put between the floor jack and the jack contact point on the car
- Torque Wrench
- Regular ratchet wrench
- Sockets that fit your lug nuts, preferably those with a plastic sleeve to avoid damaging the wheels
- Wheel chocks
- Tire pressure gauge
- A 5th wheel/tire or a 2nd set of wheels.
To change from one set of wheels to another, you'll partially loosen lug nuts with the wheel on the ground, jack up the car, remove lug nuts and wheel, replace with wheel from the other set, get lug nuts snug, lower the wheel down to the ground, then torque all lug nuts. Then repeat for the other 3 wheels on the car.
To rotate a set, you'll need to use a 5th wheel or one from your other wheel set as a placeholder while you rotate the other 3. Then the 4th wheel comes back to this same position and the placeholder wheel is removed. For rotation pattern, it depends on if your tires are in a square setup (all 4 tires exactly the same size), which is pretty standard for non-performance Teslas, or if your tires are in a staggered setup (rear 2 tires wider than front 2 tires), common for most performance model Teslas. For a square setup, I rotate in a rearward cross pattern (LF -> RR -> RF -> LR). For a staggered setup, the rear tires can't be rotated to the front axle, so you do a same-axle swap (LF <-> RF, and LR <-> RR).
Some other items you can use that increase cost but can speed the process up and reduce the effort:
- Jack stands (only ones I know of that work with the 3 are the JackPoint jack stands)
- Impact wrench - air operated or battery operated
- Tread depth gauge
- 120V air compressor
- Tire crayon for marking which position a wheel came off and/or will go back to
- Wire brush or rotating wire brush attachment for a drill that can be used to clean the hub mounting surfaces on the car and on the back of the wheel.
- Aluminum-based anti-seize compound to lightly apply to the hub mounting surface to prevent rust
Some tire maintenance items you really can't do yourself, and you'll need to take the wheels/tires to a tire shop for the following operations:
- Mount or dismount a tire from the wheel
- Spin balance the wheel/tire
- Troubleshoot or replace TPMS modules
You can view this post of mine I made a while back for links to a lot of the tools I use:
Tire Rotation
Note: That post refers to my procedure and tools I used on my Model S, so some specific items like the socket sizes were specific to the S.