I had a need to call support today, and and heard the suggestion in on the national support line this was available too. When I heard 40 minute wait time, I started searching for it while on hold. I found it - not obvious at all, and only available on desktop web browsers it seems (does not show up on Safari or Chrome on the iPhone for example).
On a desktop browser, go to the roadside assistance page
Customer Support & Roadside Assistance. You will see in the bottom-right corner a circular chat icon that when clicked will initiate a Live Chat session with customer support.
I was connected with a live Tesla Support team member within a minute - not a chatbot. I was able to get my problem across via chat quickly, and almost as quickly got the unwelcome but not unexpected response that it was an issue in need of hands-on repair and not a software issue. But all that within 10 minutes vs. 40 minute wait time + 10 minutes.