I think the Model Y is the best thing in the Tesla lineup. I have test driven one twice and found its seating to be the most comfortable of any Tesla and was surprised to find its second-row seating more comfortable than the Model X (which I have also test driven a few times over the years).
My brother is planning to replace his Model 3 with a Model Y, but he has been holding off until he sees what Tesla is going to do with the Y suspension -- either add an air suspension which Sandy Munro found has been allowed for in the chassis design or soften the coil suspension. (I have warned him, though, that an air suspension does not necessarily mean a more compliant ride or more controlled handling, as demonstrated by the comparison between our air-suspended Plaid and our coil-suspended Dream.)
The most frequently-discussed contrast between Tesla and Lucid have related to their software. With UX 1.0, our Tesla's software easily trounced our Lucid's software. But UX 2.0 and its progeny of updates have changed that game, with us both now preferring Lucid's software. Both of us prefer to drive our cars ourselves and make little use of ADAS. But for most other uses, Lucid's software is now much more useful: twin satellite map displays, birds-eye-view imaging, front and rear distance measurements, cross-traffic alerts, ability to read a USB music stick, Dolby Atmos -- and greater ease in adjusting audio volume, air vents, lights, wipers . . . .