2021 Model Y has up to 6 (7 seat version) USB-c sockets. The two in the front console can be used to plug game controllers in. I read that you can use an Xbox 360 controller, got myself two compatible ones with wireless dongles from Amazon and they work great through USB-c to USB-a adapters.
Also got a response from Tesla support:
The Teslatari compatible game controllers are:
· Xbox One
· PS4 Gen2
Hope this helps you to save the front tires from getting worn out by the children playing beach buggy on the steering wheel.