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They clip in place, so you need to first unlatch them from inside, in order to remove them from outside. You need to remove the trim panel on the inside.
To prevent damage to the clip when installing Lic. plate, use the proper size (M5x6) flat end self-tapping pan head screw/bolt ( piece 4 of the Tesla Parts Catalog ). M5x6 Flat-End Self-Tapping Pan Head Screw