Some of the P85Ds do; there was a $5,000 USD upgrade available that some folks took advantage of. Personally I didn't. Unless you're doing 1/4 mile races, I can't imagine what I'd need Ludicrous for. Insane Mode is still pretty... well, insane.
You should check with Tesla, with the VIN for the car in question. If the car doesn't have it, they certainly COULD do the upgrade. But that doesn't mean that they will. Tesla is funny that way.
