Acceleration pedal sensors are ASIL D and by ISO 26262 should have a probability of failure per operational hour of <10^-8. So yes, but it should be incredibly unlikely for sensor failures to occur and there's a very thick document somewhere inside Tesla detailing all the considered failure modes and how they've addressed them.

I believe the pedal sensor has two totally redundant position sensors. If one fails or if they disagree, the car will go into limp mode and turn on the MIL. Maybe not all of them are like that, but I remember AvE (the YouTube channel) having to replace the pedal sensor on one of his cars a number of years ago and he talked about how they worked.

For those as confused as I was, MIL in this context is malfunction indicator light, not mother in law.