I just did this today. Pretty neat, I always had tasker since root/rom days on xda but havent root a phone in a long time.
You will also need auto voice as well. I did open charge port, open frunk, open trunk, auto start( ac/heat on), lock car/unlock car.
In tasker you set event , plugin autovoice recognized , config , the hard way , speak filter then set to "open frunk" then link to tesla plugin task "open frunk"
To link them, you have to go into the google assistant and set up routine .
when i say "open frunk"
the assistant will " talk to auto voice open frunk"
You can replace whatever is in " " with what you want to do. hope this helps