Its to be expected that german car companies that have a century of experience with world renown fit and finish will have better build quality than Tesla.
But I think it will take a lot longer than you expect for traditional car manufacturers to build a fast and reliable charging network. To figure out the whole electric motor and battery thing. And finally, to get their electronics (user experience, safety features, and driver assistance) to a competitive level with Tesla.
And I’m willing to bet that Tesla will figure out how to better QC their cars faster than car companies will catch up with Tesla. Theres a lot more to Tesla than a motor and battery.
In my opinion: at the entry-level luxury ~$40,000: tesla model 3/Y is vastly better than BMW/Merc (assuming you can charge and dont commute more than 200 miles a day)
At the high end luxury ~$80,000: I would take the merc S-Class over Tesla Model S.