Ok, I'll play the contrarian:
First, let's cancel out the "fun to drive" with the auto-pilots as those things, to me, are mutually exclusive. Maybe that's just a Colorado thing but soooo many times I've become impatient with AP on highways, especially with traffic, that I crank the wheel 'back' to manual so I can drive the damn car. (Now that's fun.)
Next, almost nobody in response has acknowledged your other option, the Audi Q7. We own an A5 Sportback along with our M3 and gotta say the Audi is a blast to drive though in a different way. Last summer we did a road trip, CO > CA, a day-and-a-half trip, where I had to make an appointment at 2pm on Day 2. As much as I wanted to take the Tesla the schedule including Supercharger stops would have required me to drive later on Day 1 or get up really early on Day 2 to make the appointment. So we took the Audi instead.
Lastly, my suggestion, a matter of practicality, would be to simply pre-pack each vehicle and see what makes the most sense for you and your passengers. We did this on a trip to Santa Fe, NM, last summer with a friend who doesn't like much being a passenger and gave her the choice since she would be trapped back there: The Audi, the Tesla, or, our third vehicle, the Honda CR-V.
She chose the CR-V.
Have fun!