Can you get Tesla ESA on a car bought from a private seller / third party?

I’m looking at buying a used Tesla from a private seller. The car is still under the original Basic Vehicle Limited Warranty.

I called Tesla customer service and they told me I can subscribe to the Extended Service Agreement (ESA) as long as the car is still under basic warranty. They said to just add the car to my Tesla account and check in the app.

However, the official ESA Terms & Conditions PDF says the agreement applies to vehicles “sold by Tesla directly to You” (or transferred from someone who had it).

Has anyone here successfully subscribed to the ESA on a Tesla they bought from a private party / third party while it was still under basic warranty?

I’d especially like to hear from people who did this recently (2025–2026).

Thanks in advance!