It’s not uncommon to ask a garage to take care of the whole TÜV inspection process - they’ll do a pre-inspection, correct any issues they find, take the car to the TÜV, and then also fix any issues in the (unlikely) event that it fails.

This likely wouldn’t be the process with a Tesla, given there are no brick-and-mortar Tesla mechanics, and it’s less likely (given the absence of servicing) you’d have an ongoing relationship with a traditional garage for the car.