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I've always rotated my own wheels. In previous cars I could either jack from a central point or use the spare tire to assist in the rotation. Since the model S has neither this is a problem. I ended up getting the prepaid plan so I've circumvented the problem for a little while.
Have the jack point stands and have used them on my last rotation. They are sweet. Allow me to comfortable clean my wheels prior to putting them back on which makes a huge difference. Prior used two floor jacks, did not feel comfortable leaving the car up with both wheels off. Use winter tires as well in this case a jack stand is not required.
Well, Tesla screwed me over!
...
They "goodwilled" my tire rotation since they had my car at the SC for a number of small issues. So now, I have no good reason to get the Jack Points.
DAMN YOU!