I convinced the local Tesla Service Center to update my Half-Shafts with the latest version last week, after experiencing the clattering sound under heavy acceleration since I picked up my car in March (2020 LR Raven). They had initially said my car already had the latest half-shaft revision, and that they didn't want to simply replace the old defective ones with the same new ones. I think there are newer ones out now, though, and they agreed to replace them.
Anyway, the new half-shafts seem to have solved my clattering noise (so far), and my car is back to being perfect! I really very seldom fully "launch" my Model S, so I don't expect that the problem will come back anytime soon, but I do like to accelerate quickly and smoothly away from stops (half-throttle). I also decided to leave my car's suspension in the Low setting to help align the drive train for those times when I do punch it.
My car was a demo model that had 600 miles on it when I bought it, so I'm sure it endured a lot of full-throttle launches before I got it, which I'm sure contributed to the clattering...
The only downside of my recent service visit is that I received a 2020 Model Y as the loaner car, and when my wife saw it she decided she would rather have the Model Y than her current Model 3... So I'll be picking up a new 2021 Model Y next week and dropping off our Model 3... DOH! On the bright side, the Model 3 held it's value incredibly well, so the pain of trading actually wasn't all that bad. And I know the Model Y will be a better fit for my wife...