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There is the matching plug under the dash in front of the dead pedal.
Brake controllers come with a similar pig tail for the controller. You have to know how to match the wires up. Popular controllers might sell a ready made cable from their controller to your car and you won’t have to make one.
This is probably the most common brake controller company. I have a P3 and had to make the cable. With my Jeep I could buy one ready made. They might have them ready made for Tesla now. Not sure.