I haven't, is there an option?
Yes, it's called Off-Road Assist. See Traction Control in the 2020 Tesla Model Y Owner's Manual, page 72.
"Off-Road Assist is designed to provide
overall improvements when driving off road.
In addition to allowing the wheels to
spin, Off-Road Assist balances the torque
between the front and rear motors to
optimize traction. Off-Road Assist
improves traction on rough and soft
surfaces where one side of the vehicle
may lose traction while the other side still
has traction. When Off-Road Assist is on,
the accelerator pedal provides more
gradual torque, which is useful for
crawling at low speeds (for example, over
rocky surfaces). When enabled, OFFROAD
displays on the touchscreen above
the driving speed."
The option to activate Off-Road Assist is under Driving Settings.