Reuters has an interesting news article discussing Tesla warranty costs and compares it to Mercedes and GM:
High warranty costs reflect Tesla’s struggle with quality
Although the headline is "High warranty costs reflect Tesla’s struggle with quality", the actual numbers don't really support that headline. It notes that both Tesla and Mercedes spend about $1000 per car on warranty work. (It notes that GM and Ford are about $400 but I don't think they are in the same category as Tesla and Mercedes.)
The article does note that Tesla has set aside higher reserve amounts than Mercedes ($2036 vs $1294) for future warranty work. This could be more conservative accounting or reflect expected higher costs.
High warranty costs reflect Tesla’s struggle with quality
Although the headline is "High warranty costs reflect Tesla’s struggle with quality", the actual numbers don't really support that headline. It notes that both Tesla and Mercedes spend about $1000 per car on warranty work. (It notes that GM and Ford are about $400 but I don't think they are in the same category as Tesla and Mercedes.)
The article does note that Tesla has set aside higher reserve amounts than Mercedes ($2036 vs $1294) for future warranty work. This could be more conservative accounting or reflect expected higher costs.