When discussing quality, for me, I split these in 2.
The amount of repairs needed based on quality - yet to perfect their production
My experience has not been good. I have owned the car for 16 months and I have had the car in for repairs more than 10 times, this due to poor build quality, parts not holding up and design flaws. I would say I got a lemon car, so in short, my experience sucks and thus I would not recommend anyone to purchase this car. Adding the current constraint on the Service Centers, the time it takes to correct issues (2-3 months) makes this a nightmare. However, this is my experience, I have friends that have owned more than 1 Tesla, and never had any issues. So I would say, buying a Tesla is a risk, because their build quality is not consistent... Tesla is a new car company, they have achieved a lot, but they have yet to perfect their production process, at least compared to Mercedes, Audi and BMW.
On a side note, I envy my friends who have had a car without any issues, because this is a really fun and good car to drive
The feel, looks, sounds and choice of "fabric"
I have previously owned and Audi A5, comparing the quality feel of interior, the sound of doors closing, rubber seals around the doors/window that is there to reduce wind noise, the way the textile is fitted on the bottom of the car, the way all parts/panels are attached to the dashboard/doors, alignment of the panels around the wheels, doors, hatch and more... all of these cannot compare to the quality of a German car.
But this I would say is more of a subjective matter. I recommend you to go and have look at a model S, look at det seals around the doors and how everything is put together, I also recommend you to push and pull slightly on the panels inside the car to get the feel, then do the same with a German car.... If you don't mind this, and many don't, including me, than your fine
Best of luck with your choice