As a previous M5 and RS4 owner, I can tell you what I found different on the cars.
It was a really hard decision, and almost bought an RS7, because the German cars are big on making you feel luxurious in the interior. The Tesla is more of a Scandanavian modern, minimalistic, function for design look. That will take some getting used to. Also, you have to be prepared to realize that one of the things that people love about high performance cars is that the sound and action of the cars make you FEEL: a performance car makes you feel cool, with revving and all that. A Tesla is TOTALLY different. Getting the P85D (mine will be delivered in 2 weeks) to accelerate fast is easy. Very easy. Passing on the freeway or side roads is instant and awesome, like you were trolling around at 6,000rpm. Except that you never have to shift!
The main problem with the Tesla is that the interior is spartan and devoid of simple things that ALL other cars have: coat hooks, grab handles, lighted vanity mirrors, map pockets, an armrest in the back, cupholders in logical places, cargo nets (missing in the P85D), pockets in the back of the seats, a console, a frickin' way to attach your key to your keychain, etc. The main reason that I find these items missing so annoying is that they could have been easily added as Tesla ramped up production, but they weren't. No one has held the interiors people at Tesla responsible for this, and there really is no excuse for it that makes any sense at all. So you will have to overlook these inexcusable omissions because the car is so cool and has so many advantages.