I had the same issue on my 2018 X100D. There was axle creaking on acceleration and deceleration at low speeds. Tesla lubricated the axle splines, and it fixed the creaking.
There is also a loud clicking sound similar to someone hitting the ground with a tin can. That was mitigated in one wheel by replacing the wheel hub assembly (bearing failure). I still have it in another wheel and have learned to live with it when Tesla told me it’s “normal”