My 2021 model Y just did this about 30 minutes ago! My car drove forward despite me selecting reverse gear. I verified twice that I was indeed in reverse (R bolded, screen with reverse cameras, reverse sound playing). This is captured on a dash cam video. Rear camera footage and reflection from the car behind me demonstrates that the reverse tail lights are turning on but the car is moving forward instead of backwards! I am on version 2021.24.5