Yes there are kits for sale that will allow you to interfere with the Tesla drivetrain, you would wire that ecu to the accelerator pedal, etc. Most conversations use battery modules from model S/X as they are smaller modules than ones from 3/Y. You would need to fabricate mounting for the motor(s) and possibly custom half shafts and suspension. And custom mounting for battery modules, custom cooling system, power steering and ac must be converted to electric. Lots of work.