If you’re only using your car for essential driving, Tesla claims that you will only have to charge the vehicle about once every four days. This can vary depending on the amount you drive and which model you have.
If you have a charger installed at your residence, it’s easiest to just keep the car plugged in whenever it’s in the garage. While this will raise your energy bill, you won’t have any problems running out of juice, whether you’re going on a longer trip or just going to get groceries.