I have a 2020 Y in the early adopter range of number 6000. Just started to have the problem, after dropping it off for the weekend I received the "it will be fixed in firmware"
However, after sleuthing the web I found someone who said " Before you unlock the door ... open the trunk". that seems to work for me.
It seems to stay ok for the day's trips. But reopening the trunk seems to help the issue. (be sure to take the weight off your left foot when closing the trunk.) (holding your left ear is useful as well) ... don't mind your wife laughing at you.
The car is sentry off at home, but on everywhere else.
I am sure everything is ok so I am off for a self drive with FSD doing all the work .............what could possibly go wrong
ha ha Early adopters have all the fun.