What Dr. Zorro said!
I used to drive a Lotus Elise before I got my Model S. The Lotus list had some hair-raising valet stories (dash cams are awesome). Some of those folks also owned other, more expensive exotics like Lanbos and Ferraris. The advice was: Hold out a twenty to the valet and tell them that you are parking it and you are keeping the keys, but hop in. If they decline, pull back the hand with the twenty. I once was told that they can't let me park the Elise myself in their garage, but I could leave it out front on the entry loop for passersby to admire. That totally worked. The Tesla Model S Dual Motor Performance stories were far worse than what I read on the Lotus list. I once negotiated that they drove and parked (insurance related they claimed) , with me in the car, and I retained the key. In that case the valet was pleased, because they'd never driven a Tesla before.