Is this covered?

Give it a good smack with the bottom of your fist

Hit it harder than you have been

There's nothing that explicitly states whether this will or will not be covered under warranty, but regardless, you should be setting up an appointment for a full inspection before your warranty expires to review any of the common wear items, and include this in your list of requests. They'll likely just thwack it a few times to fix it.

Smacking it is indeed a quick fix but it'll come back out of alignment as you drive around. There is a tab out of alignment you risk breaking with too much force making the situation worse. With some basic tools it'd be worth removing the bumper cover to reseat everything. There is tension pushing that bracket connection out of place. The [Tesla service manual for your specific car](https://service.tesla.com/docs/ModelY/ServiceManual/en-us/GUID-CE120C95-E5DB-4665-A47D-917E3428BD6F.html) will direct you on how to proceed, I assume that's a Y. I recently had alignment issues with my Model S' rear bumper cover. I removed then reinstalled, it fixed the alignment and has stayed in place. About 20 minutes of work.

Everything bumper to bumper is covered 4 years or 50,000 miles