IMHO a balance must always be found between security and usability. The current methods works well enough. Of course UWB would be an improvement if they add it to the next gen but that's about it.
I get in my car several times a day. I can live with PIN2Drive even when sometimes it's a hassle. But having to use a yubikey, TOTP, etc... anything that would take me even an additional 5 seconds to shift into drive while I'm in the driver seat definitely seems way over the top.
You'll tell me they can make it optional, but then, if less than 1% of Tesla owners use it, is it really worth the dev time + potential facepalm issues described above when a not-so-clever user will undoubtedly lock himself out?
You'll never be able to prevent a motivated, skilled and resourceful robber out of any car. But Tesla does a pretty good job of discouraging the lower bunch of them. They are connected cars. Unless you're stealing it for parts not much you can do driving a stolen one. And if you manage to disable communications with the mothership, goodbye superchargers, nav, apps... which is already 50%+ of the appeal of the vehicle itself.