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Just bought used 2016.5 MS = when take it in to shop?

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Just bought it with 39k miles, so it still has the 50k warranty, ya? Should I schedule an appointment at my local KC Tesla joint for a check up? This way i know to do it at the beginning of every year? Are these check ups free until you reach 50k?
 
No, the annual vehicle inspection/service visit are not free. They are recommended but not required either annually or every 12,000 miles. If it has not had any prior service visits you would likely want to do the 24,000 or 36,000 mile service visits. The service center can give you the current pricing and what they do at each visit.