In the old days they recommended maintenance once a year and it cost $700-1000 depending on which year it was (even numbered years were more expensive). This was pre-3/Y so only applied to S/X. Some time around 2018, they told me they stopped recommending scheduled maintenance. I drive a ton though, so every 100k miles or so I demand they perform maintenance like they did back then, and they charge me roughly the same amount so it's apparently something they still have in their system even though they don't recommend it.And those aren’t free.
The manual is pretty thorough about those things so feel free to check it out. I have never heard of any regularly scheduled maintenance for a Tesla.