Yes, currently, the Model S has a 4/5 of for predicted reliability, but this wasn't always the case. CR issues new reliability scores at least once a year based upon survey results that cover a 12 month window of time for a given make and model year (
Consumer Reports' Car Reliability FAQ). It's a shorter duration for the latest model year.
There are numerous threads here on TMC where numerous folks were angry and crying foul during years where the Model S scored below average in reliability and hence wasn't recommended.
Looking at model year, the '12, '16 and '17 essentially receive average reliability (it's in the middle of the scale of 1 to 5). '13 is well below average (would be 1/5 on their scale), '14 is below average (would be 2/5 on their scale) and '15 is above average (4/5). All of this may change the next time they issue reliability ratings, which is about a year from when they issued these.
Currently, at
Used Cars to Avoid Buying, '13 S + '16 and 17 X are on used cars to avoid.
To compare to the other cars you list isn't a great comparison, BMW and Mercedes aren't known for great nor consistently good reliability. Audi was also not good but somehow supposedly improved over the last few years.
In comparison, for say Toyota Prius, predicted reliability is 5/5. Model years go back to 2001. Every single year has the highest mark (5/5) except 01 and 06, which get 4/5 on their scale.
I took a look at Camry. Predicted reliability is 4/5. They also go back to the 01 model year. 01 got a 4/5. All model years from '02 to '17 get 5/5.
But yes, I already discussed satisfaction which is independent of reliability.
