That's not the dome light connector, but the optional intrusion alarm connector (which it appears you do not have the alarm). It should be in the 13v range, never 9v. It's a good place to tap for a dashcam - I've used it on several Teslas I've owned without a problem (a 2013 and 2016), both cars with BlackVue dashcams. Either the connection has a problem (most likely) or the battery is failing. At 9V, I doubt the car would boot up, so that seems unlikely. Another unusual possibility is the fuse for that circuit has high resistance. Not sure I've ever heard of it happening, but perhaps if you're in a salty area, the contacts have corroded.