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Normally, the Tesla mobile service or service center connects their PC up to the port and then can add and remove keys from the Model S or Model X. I'm not too sure if it's a setting that the owner can do.
One of the ways is to connect T-CAN to connector under Main Computer and using special T-CAN SW it is easy to add new key. The key for must be near the console (elbow rest arm) and two buttons - front and back trunks - must be pressed and hold.
In T-CAN SW you will see corresponding logs.