That would be a horrible design, but according to this article about another Model S fire, the doors CAN be opened manually.
https://www.autoblog.com/2019/02/28/tesla-fiery-crash-closer-look-door-locks/
The interior mechanism is essentially a traditional-style door release pull with two stops. The first stop triggers an electronic door release, and opens the door. Open to full extension, and a mechanical door release operates, even if there's a loss of power — it isn't confusing to operate.
What if your incapacitated and access must come from an outside first responder?