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Ask them? Most likely they'll want the keycard cuz Valet is very limiting can't open frunk, etc etc. And it'll drain your battery if sentry is on. If you're concerned the shop is gonna spoof your card, best to look at a different shop.
 
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Valet mode works in conjunction with the keycard. Valet mode is not really applicable. Valet mode is about protecting your belongings.

You might consider speed limit mode set to something reasonable (55?) which also applies chill mode. Or find a shop that you trust.
 
Speed limit mode (set in app or from screen). Or just don’t worry, they know you can track from app.

You could also signup for something like teslafi (1 month trial with referral) that would track the cars every move. There are many other similar products out there as well.