https://www.bleepingcomputer.com/news/security/hackers-exploit-29-zero-day-vulnerabilities-on-second-day-of-pwn2own-automotive/
At least none of them reported so far took over actual driving capabilities
2016:
Team of hackers take remote control of Tesla Model S from 12 miles away
https://www.theguardian.com/technology/2016/sep/20/tesla-model-s-chinese-hack-remote-control-brakes
IIRC, there were a couple of other tsla hacks. Musk said they didn't happen.