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My wife has a 2017 Model S dual motor and a few years ago It died on a holiday (had to jump it) so I hacked a Dura12-35C Duracell 12 Volt 35 amp hour AGM battery from Batteries + Bulbs. I ended up doing the same this time. It is a royal pain but it can be done. So, unless you are: Poor Cheap Stupid or
The lithium ion 12V battery costs 3X what the current maintenance free lead acid battery costs. In the Model S, Model X replacing the 12V battery requires removing the front trunk bin and under hood trim. Tesla designed the Model 3, Model Y so that accessing, replacing the 12V battery is much easier requires less time to perform this service.
Day 1: We returned from vacation to find our 2021 Model Y had a dead 12 volt battery. We did not get any warnings from the Model Y or in the app that the 12v was malfunctioning. We couldn't get into the vehicle, couldn't disconnect the charging cable. etc. So we used the app to start a service order.
It's in the support section of the tesla web site under DIY/ model Y/LV battery. That will give you access to the 12 volt battery. There is also DIY to replace it. The Tesla battery is inexpensive or at Advance Auto you could get a DiehardEV battery that is AGM. (the factory battery contrary to some misinformation is a flooded lead acid).
The failure modes in both the Prius and Tesla are very similar to each other: If the battery is failing, it typically drops its output voltage from the usual 12 - 12.3V or so down to below 11V. As the voltage degrades, various hunks of electronics looks at that too-low voltage and fails.
When testing the 12v battery in a Tesla be sure the car is asleep i.e. power it down. Otherwise, if the contactor is closed the DC-DC transformer will be supplying power to the 12v battery. However, as the car will tell you when you need to replace the battery I would not worry.
In fact, in an interview with Sandy Monroe, Elon did acknowledge that in their new refreshed vehicles for Model S and X 2021, and probably later, they’re going to be changing their 12-volt battery to a lithium-ion battery. This means more capacity, more cycles.
These days, ICE car 12 volt batteries are perfectly fine one day, then suddenly die. I don't know if the way batteries are made these days has changed, or maybe my memory is wrong. That is why it is good to pro-actively change a 12 volt lead acid car battery before it dies if the application is critical. But how often? 2, 3, 4 years?
The Tesla 12V battery is covered under the standard Tesla vehicle warranty for 4 years/50k miles. If the 12V battery fails or the Tesla vehicle displays the message that it is time to replace the 12V battery then Tesla Mobile Service (where available) will bring and install a replacement 12V battery of the same type.
I have created a "special" system for my 12 Volt powered equipment. Everything with a 12 Volt battery is connected to a battery tender. The outlets that feed the battery tenders are on a timer. The timer is "on" one hour per day. It keeps everything topped off and ready to go. It avoids boiling my batteries.