The yoke was new in the last year or so - my car has an actual wheel
When they introduced the S/X with the 3/Y-like screen configuration they added the yoke. I‘m pretty sure that was new for the 2022 model year.
They recently changed it so you can special order an actual wheel. Before that, there were lots of YouTube videos showing people how to make the change themselves (it essentially involved an allen wrench). There are even several third parties who sell yoke replacements, of all varieties. Some of them take your old yoke and mod them into full wheels.
The yoke is such an Elon thing to do, though. The retracting door handles are another. Cool idea, but they break constantly. The service guys told me that they get a constant stream of door handle repairs.