Since Tesla introduced the ability to plug in a game controller for the on-board games, the search for a decent compatible controller (that works properly for Cuphead) has been on. Fortunately I can recommend one that works perfectly and should be readily available.
The Microsoft Xbox One ‘PowerA’ controller
This is what I have in my car, works as expected (although mainly just sits in the centre console!)
Visit the Accessories category to see other must haves for your Tesla