Does Tesla require annual inspection?

Teslas don't require annual maintenance or mileage intervals (kind of), but if your state has laws regarding a vehicle inspection that is different. The car brand doesn't determine if you follow state laws or not. I'm not sure how someone could confuse the two. "Pennsylvania requires annual safety inspections for most vehicles, plus emissions testing in specific counties, typically coinciding with registration renewal. Key inspection points include brakes, tires, steering, suspension, lighting, and exhaust, along with a VIN/insurance check. Vehicles with expired stickers can be driven for 10 days to a repair station with proof of a scheduled appointment."

Your State requires an inspection. Tesla does not require an inspection. I think you’ve conflated the two items.