If you slowly move the car and watch the wheel, does is appear to wobble back and forth as the tire rotates? Or does it roll with no visible wobble, but just not pointed in line with the car?
If the wheel wobbles, then the rim is likely bent. Whether the rim can be repaired versus you need to get a new rim (wheel) depends on how badly it is bent, or worse yet, actually cracked. Check around and I'm sure you can find a rim repair shop that can give you an indication.
If the wheel rolls smoothly in a constant orientation, but not pointed straight, then you likely have bent/broken something in the rear suspension. If this is the case, then you are looking at needing to have the car repaired, either at Tesla service center, or via a body shop/collision repair center. There are "Tesla certified" shops. If it's just suspension damage, you wouldn't necessary need to go to a Tesla approved/certified shop, but sometimes independent shops find it difficult to get necessary replacement parts if they are not certified Tesla locations.
Either way, I'd start by getting it into a reputable alignment shop for them to take a look at. They can likely give you an assessment of what the issue is and best path for repair. It's hard to judge from your description how severe this is, and whether it may be drivable, whether it's safe to drive in current shape could be a different question.