Happened to me just before bumper-to-bumper ran out. I got some hassle about “we don’t fix squeaks, now” but it was really bad, I persisted with this new guy, and persevered getting it covered by Tesla. Required an upper control in the front replacing. Apparently it is the bushing that cracks but it is all one part.
If it is outside warranty my understanding the part is only about $150 or something and suitable for DIY with about an hour of modest mechanical skill. Maybe some extra work in the rear version.