Brake Service
Brake caliper need to clean and lubricate every year or 20,000 km (12,500 miles) whichever comes earlier in country where road are salted during winter.
Please check more details about in another guide. Link
Brake Fluid
Tesla recommend to do brake fluid test for contamination every 4* years and if needed should be replace.
Brake Fluid should be checked with professional.
* Need to check and replace in hot & humid places - In case of Heavy brake uses because of towing, mountain driving, performance driving.
Please check more details about brake fluid in another guide. Link
How to change Brake Fluid on Tesla Video
Cost
FAQ
Does Tesla Car need brake replacement?
Yes, it need to replace. However, brake pad replacement is not so often like traditional car because of regenerative braking technology, which reduce wear on brakes. (Source Tesla: Brake Wear)