I have over 25k miles in an S with a yoke, there was one day where I was exiting a parking lot and the yoke was upside down and the turn signals buttons were backwards that was a slight annoyance. Other than that I have never had an issue turning with the yoke and wouldn't want to go back to a wheel that blocks the instrument cluster constantly.
they also could move the instruments (but besides the speedometer... most of them are somewhat useless anyways... and with a FSD car, even the speedometer should be useless)
There are other hand methods when using a yoke that work just as well. I think they assumed people would adapt. Considering it's already an EV maybe they thought people would be more willing to try new things.