IIRC there was some youtube video a year or two back that tested a few variants on a track using what they claimed to be a replica of the EPA highway test, and the cars came out almost dead on.
There have been some independent tests and IIRC the consensus is that the standard range Model 3 was rated pretty accurately, and the Performance trim was rated something like 25-30 miles too high compared to reality.
But again, you're using the words "on the highway" to reflect what I assume to be your driving habits in rural open road conditions and not the test that was actually performed to produce the numbers in the product specs. And that was my point. It's not about advertising fidelity at all, it's about regulation and its mismatch with the expectations of a modern EV driver.
There are caveats. The lower end Model 3s hit their estimates pretty reliably. The Performance trim usually misses by a pretty big margin for most people. There are exceptions to every rule, but I owned a P3D and hung out with other P3D owners as well, and this was a commonly shared experience.