Car audio specialists over at Alpine have designed speaker sets for the Tesla Model 3 and Model Y. Both slot in where the speakers usually are in these cars, no modifications necessary.
The $2,995 standard set comprises 11 speakers, including a 200W subwoofer, and a 12-channel DAC. Paying a premium gets you an extra pair of 80W speakers. The whole thing is compatible with Tesla EVs produced for the model year 2018 or newer.
Alpine points out that even cranking the subwoofer up to the max volume will not drop the driving range by more than 1 mile (1.6 kilometers) per 1 hour of listening.