I've driven the Model S for 13 months. Initially I was very apprehensive. But here is how my thinking has progressed:
1. 30 days prior to acquiring the car, I solely drove with hands on 3-and-9 in my conventional car;
2. First 30 days of driving, I practiced the turn signals and and horn at random parts of my drive to develop muscle memory;
3. First 6 months, I fully adapted to the 3-and-9 handling. I had 'button mishaps' maybe 2-5% of the time;
4. Final 7 months, button-errors diminished to sub-1%.
Some maneuvers are actually easier in the yoke than with a regular wheel. A U-turn is reminiscent of using the old rotary-dial telephones. You just dial the wheel counter-clockwise by hooking your left pointer-finger in the small valley on the upper left of the yoke.
I drive with some quirks that remove certain issues others have with the yoke. I never park next to a car -- and benefit from longer walks to stores, etc. Consequently, I rarely have any surprises as I pull in and out, and don't need to make sudden maneuvers. Moreover, even in the telephone-dial turn technique, my turning hand knows exactly where the 3 O'clock or 9 O'clock position is, and can adjust from 'dialing' to grasping.
Now I've had experience piloting various aircraft -- so, its remotely possible I have slightly more brain plasticity than your average bear. So your mileage may vary. I also benefit from the advantage of driving through icy conditions once every 3 years or so.
TL;DR: By six months of driving, my early apprehensions were allayed, and all phases of driving are no worse while driving the yoke.
Oh, and in case you think I have any weird biases: Elon Musk sucks in managing Tesla for the last 12 months, at least.