Even if you do pay the sticker price, you might also be trading your car in, in which case you still have to negotiate how much they will pay you for your car.
Not only that but the sticker prices are usually artificially high since they are expecting negotiation with high prices for random add-ons like paint protection or other things nobody asked for.
1. If you trade your old car to Tesla, you still have to negotiate it's price.
2. I am not sure how is your opinion about price is related to the experience at the dealership. Sticker prices for all cars are available online, and you can make a decision if the car worth that price well in advance. Once you make that decision nothing is stopping you from having a great car buying experience.
For some reason people that don't like to negotiate don't want to pay sticker price either.