I'd use whichever wheels you prefer on the car. Staggered would mean only side-side rotation, so the rears would wear out faster and be slightly more expensive to replace, but it would fall out in the averages.
I've never had Pilot Sports... But usually have had A/S (the Boxster was the exception...) The Tesla is the first car I've had to replace a full set of tires on in a long time (only other time was on the E39)...
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