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YouTubers Out of Spec Motoring took a Tesla Model X with stock tires high suspension setting, and slip start mode off-roading to see how it would handle. To my surprise watching this, it did pretty well.
While Rivians are being designed and developed as adventure vehicle for people who love being in the outdoors and off-roading, unlike Teslas. It would be interesting to see how the the Model X and the R1S would compare side by side off-road with the proper tires.