Any good auto shop can rotate Tesla tires. Make sure they intend to hand torque with a torque wrench, not an impact wrench, to 129 ft-lbs. My May 2015 P85D with 19” wheels does not have staggered tires. Also, the chrome lug nuts really are steel, not plastic covers, on this particular model.
I do think rotation is a good idea. My front tires seem to wear a little more than the rear tires.