I can't tell from your photo exactly but my garage is probably similar to yours, at least as far as the opening goes. I probably have a little more room width-wise on the inside (and no scary looking extension ladder in mine!). Here are some numbers that may help you:
My garage door opening is 93" wide - Summon can safely pull my Model S in and out through an opening that wide.
(BTW, with that width opening, I have about 3.5" clearance max on each side with the car's mirrors extended; a little under 8" per side clearance with the mirrors folded in)
However, I don't use summon because the internal LENGTH of my garage is also quite short. Summon will only pull the car as close as 8" to the front wall (configurable in settings, but 8" is the min). To safely fit inside my garage and be able to close the garage door and open the trunk, I need to park with the front bumper practically touching the wall. I think I have a total of 9" clearance combined front to back to fit in lengthwise. So Summon is useless in my case, I'd have to manually pull the car in closer each time anyhow.
so you might also want to check the length of your garage, if that dimension is tight.