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Just scraped my baby against the garage door.

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I just went through this after having a minor dent in my wheel well. I suggest taking either to a Tesla approved shop or another shop that handles aluminum like an approved BMW, Mercedes shop. Cost is big though. I had a small dent in the door and the wheel well from a parking lot mishap (I wasn't there). Total cost was just under $5 K. My insurance company dropped afterwards (State Farm).
 
well, maybe its that things are just cheaper here but I scratched my bumper much worse (also felt really sad about it BTW)... so I took it to my local body shop (the bumper is plastic so no need for aluminum specialists) and they did a perfect job (I mean seriously perfect) for €150 all in.

Then a lady reversed into the driver side front and rear doors and that had to be fixed through her insurance. This required some structural fixing and, through the Tesla approved body shop in Madrid, it cost €1200 and was all paid for by the insurance. It took about a month to organize as this was the first time anyone had done anything to a Model S (other than the earlier bumper painting) but the job was done in 2 days!

My car is sig red so its not an easy color, but both jobs have been spot on. Both told me that with the color codes and a good computer paint system its easy to get it right.