The Model S and X have truly retractable door handles. The Model 3 and Y have flush door handles that you need to push in to get the latch to pull out. As far as I know, the 3/Y handles should work with the power disconnected; although many people who haven't ridden in one don't know that you need to push, then pull, the handle. (And probably won't figure it out when panicking.)
I don't know if there's a way to bypass the S/X handles. My Ioniq 9 has retractable handles, and if you push on one corner of the driver's door handle you can work it out. I don't know about the other doors, and I don't think someone could figure it out if panicking.
The Model 3 and Y handles do not work with the power disconnected. The article says that it was a Model Y that they were unable to open. My Model 3 had a power issue and the doors would not open.
The Model S and X have truly retractable door handles. The Model 3 and Y have flush door handles that you need to push in to get the latch to pull out. As far as I know, the 3/Y handles should work with the power disconnected; although many people who haven't ridden in one don't know that you need to push, then pull, the handle. (And probably won't figure it out when panicking.)
I don't know if there's a way to bypass the S/X handles. My Ioniq 9 has retractable handles, and if you push on one corner of the driver's door handle you can work it out. I don't know about the other doors, and I don't think someone could figure it out if panicking.