The Tesla Model S was the first Tesla model to feature a yoke steering wheel.
Tesla introduced the yoke with the heavily revised 2021 Model S, replacing the conventional circular steering wheel with a horizontal, aircraft-style control. The design appeared as part of a broader cabin update that also brought a landscape-oriented central touchscreen, a separate rear display, and revised interior controls.
The yoke was intended to improve forward visibility and create a more futuristic driving interface. It also removed the traditional steering-wheel stalks on early versions, moving several functions to touch-sensitive controls. Drivers and regulators raised practical questions about maneuvering, visibility, and ease of use, especially during tight turns and parking.
The Model X received a related yoke-equipped interior as part of its own 2021 refresh, which is why it is sometimes mistakenly selected as the answer. The Model 3 did not debut the feature, and the Cybertruck was revealed later as a separate vehicle program. Tesla subsequently offered a conventional round wheel as an alternative in some markets, reflecting the mixed reaction to the original design.