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How much for yearly maintenance

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Short version: Wiper fluid, wiper blades, tire rotation, tires, and every so often air filters are the routine maintenance regime.

If you live in a region that salts the roads in winter, check your brakes yearly, since they're used to little that they can sometimes "stick" due to disuse.
 
oh. I’m getting a musky odor whenever the AC first kicks on and saw a few people had similar problems around the year mark (replacing air filters solved it).

so Tesla no longer recommends yearly maintenance?
No.

The smell is due to condensation in the filter and surround area growing stuff. Replace filter and use evaporation cleaner. Tesla will service for $100 or so and may offer a discount for late 2018 models. A firmware update resolved this issue by running the fan after the car has been parked a bit to dry out the filter.
 
There really is no scheduled maintenance anymore. On the first Model 3s, there was, and the first maintenance was at 2 years. But Tesla has been studying the failure issues over the years and decided that their previous schedules were too aggressive and not needed.

So, maintenance schedules got removed. Rotate tires as you desire (even that got removed) fill your wiper fluid.

For the fun of it, take it to an oil change place every 6 months to get the oil changed.
 
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• check tires for uneven wear, align if necessary
• check brake pad thickness, replace if necessary
• lube brakes, if necessary
• check underbody panels, tighten bolts, etc.
• check 12v battery, replace if necessary
• check air filter, replace if necessary
• check wipers, replace if necessary

• add washer fluid
 
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Back when there was a 2 year maintenance it was $425

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There is no defined yearly maintenance, although it's a good idea to have your car looked at every year. The cost will vary. See here for what Tesla recommends: Car Maintenance

Regardless of if you live in a winter salty area, have your brakes serviced (not necessarily replaced) every year. This ensures they are able to operate appropriately, and if they're not operating properly, it will be caught. Sometimes stuff just seizes and misbehaves and you only know once something bad happens or if you're actively checking it.

In general, a preventative inspection for the usual bits (suspension components, steering components, etc.) is also a fabulous idea, especially as the car ages more. Also good early on so you can catch things and have them fixed/replaced under warranty if they're failing early.

Ensure you discuss with a service center any of your more minor complaints. There actually may be a service bulletin for it, in which case they'll address the problem. Don't look for a list of these and come in guns blazing expecting them to address every one you can find (unless you are truly experiencing the issue), that's not what they're for.

Tesla used to recommend changing the coolant every 2 years, they no longer do. I personally will be doing this, since it seems to be an odd thing to retract.

The above things you should do for any car, EV or not.
 
• check tires for uneven wear, align if necessary
• check brake pad thickness, replace if necessary
• lube brakes, if necessary
• check underbody panels, tighten bolts, etc.
• check 12v battery, replace if necessary
• check air filter, replace if necessary
• check wipers, replace if necessary

• add washer fluid
When you're checking the underbody panel, undo a few bolts on the rear panel, and let any debris/rocks fall out.