While I don't find this to be an issue at all in the Model 3, I found the 2007 Civic EX to be insufferable in this regard. Hated those headrests! The Model 3 is great and my head doesn't touch at all whilst driving.
Also, as a shorter driver I *despise* 'ergonomic' seats that have the 'lumbar support' in entirely the wrong place. This was a trend for a while but I find the Tesla seats extremely comfortable. I do wish the seat belts had more adjustments so as not to slice the neck of shorter drivers, but that can be solved with some aftermarket seatbelt guides that change the angle of the incoming belt across your body.
If I did have an issue with the headrests, I'd bend them a bit as others have mentioned.