Just wanted to add as a data point that even pre-facelift cars suffer from this like a previous poster from Denmark said.
Mine is S85D built 8/2015 (117k km) with air suspension and has had the rattle since I have owned the car (from 97k km).
Just got the car back from Tesla service center, they put in new lower front control arms and upper track arms in the rear but no change in the rattle (mostly noticeable on cobblestones or ice bumps). Sounds like sway bar drop links or upper shock mounts to me from experience but the service center thought that the drop links were fine.
Link to my video with the noise: