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Yes (Not sure if Tesla will be keen if your Model-S is worth more than the new Model-3 ...)
I'm trading a Model-S for a Model-S next week, so not quite the same. Interesting thing for me is that Tesla Trade In price, whilst much lower than I would like, is better than other places I could get an offer. An eBay sale might get me a slightly better price, but there is loads of potential aggro in that route of course ...
R Symons is the go-to person for selling Tesla's other than to Tesla, so you might ask him for a price.
Tesla Info "harvests" information about cars up for sale at all sorts of places on the internet. It notes if the price changes for that car, and if the car comes up for sale a second time it displays the details from the earlier sales too
So that might give you an idea of price. Tesla just need to know what the car is and their central systems will send you a trade in "offer"
In case of interest I recently asked about selling my old car: