Like others have suggested, if you have had chance before your Tesla to get your hands on your car’s, then fixing it yourself is possible. It needs the bumper to come off and you need to clean up there where the sensor is attached as the glue has to attach to the surface. It might be just the sensors has come loose from the bracket, but as seen myself it’s very hard do to without braking it appart. These sensors are pretty tight there. It you have to fix it yourself then before putting back use some silicone oil to set the seal right around it.
Or take it to bodyshop, preferably the one that has knowledge on the car. You can take the bumper on/off yourself, it’s very easy but there needs to be two pairs of hands to get it back without damaging any further. I think Tesla is quoting you on new harness and sensors for the fix.
Actually you can test it wether the sensor is broken or are the edges of bumper disturbing the proper functioning by only undoing the bolts and screws and getting sufficient room behind the sensor to push it back and getting in to D on the IC...