Don't think that is DIY fixable and my guess is that the soft-touch coating has bubbled due to exposure to a chemical/solvent or it is simply a factory defect. Honestly, I wouldn't be surprised if something as "benign" as antibacterial hand gel caused this.
You can buy a used door skin for a couple hundred bucks online. However, with the way Tesla parts work, I'd also call your local service center to see how much the part is to purchase. Sometimes brand new parts from Tesla are ridiculously cheap (relative to the used parts market).
