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How to tell how much of a discount is on a CPO vehicle?

Just saw this P85D with only 2400 miles:

85 kWh Performance Model S 083161 | Tesla Motors

is there any easy tool to check this somehow or just need to look at online configurator? (I guess that wouldn't work for older cars though)

As a direct answer to your question, no there is no "east tool to check this somehow". That said, that would be the wrong approach. You should compare the CPO to what you could buy today (private party or new), not compare to what the car was priced at when it was available new since you can't buy that car (but you can buy an available private party one now or a new one now).