@shady Tesla did not give you the correct information. I just had my 2013 Model S upgraded to individual TPMS readouts for a total of just under $600, tax included. That included all new TPMS sensors, two new receiver modules, and a new antenna, maybe some other stuff. You need to talk with a service advisor who is willing to do some research. This is NOT a retrofit item and will not show as an available retrofit. However, service can update the necessary components and enable the feature in the car's software. They just need to know how to do it.
I was told that Tesla normally only performs this update if an older vehicle is having repeated TPMS issues, but not otherwise. I asked them to look into it for me and they gave me good news.
I had mine done in Scottsdale, AZ. Maybe your service manager can call over there and find out how they did it.