About a year ago, I opened a service ticket with Tesla because my driver's side door squeaked every time I closed it. Mobile service (which is great, by the way) came out and lubricated the weatherstripping. This fixed the problem, but fast-forward to July 1st and the squeak is back!
I could call Tesla service again, but what happens once the car is out of warranty? Then I remembered a special product that was recommended to me some years ago to fix a sticky mini-van passenger door. The product is Nextzett Gummi Pflege Stift (affiliate link). Weird name because it's made in Germany but this stuff works! The product has a built in applicator making it very easy to apply.
I applied to the weatherstripping of all doors, let it dry and voila, no more squeak! This works great for any vehicle or any application the use rubber weatherstripping.
I will update this post when the squeaking returns, but I expect to be squeak-free for well over a year.