from the 2024.8 manual
Stopping Mode
NOTE: Stopping Modes may be unavailable for vehicles manufactured as of approximately January 2024.
Regenerative braking decelerates Model Y whenever you release the accelerator pedal when driving. You can choose what you want Model Y to do once the driving speed has been reduced to a very low speed (almost at a stop) and both the accelerator pedal and brake pedal are released. While in Park, touch Controls > Pedals & Steering > Stopping Mode and choose from these options:
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Creep: When close to, or at, a complete stop, the motor continues to apply torque, moving Model Y slowly forward (in Drive) or backwards (in Reverse), similar to a conventional vehicle with an automatic transmission. In some situations, such as on a steep hill or driveway, you may need to press the accelerator pedal to continue moving or to prevent Model Y from moving in the opposite direction.