Technically Tesla fell just short of 500K cars in 2020.
Q2 2020 through Q1 2021 achieved the specified goal.
https://www.statista.com/statistics/715421/tesla-quarterly-v...
https://www.statista.com/statistics/715421/tesla-quarterly-v...
https://elonmusk.today/#500-thousand-teslas-year is still on there.
while it seems that tesla did reach the milestone in 2020 according to https://backlinko.com/tesla-stats