I don't think driving slowly for a few minutes will make much, if any, difference. The problem is the frozen rubber developing cracks due to the summer compound not being flexible enough in low temperatures. Here's the what it says on Tirerack's website regarding the Pirelli PZ4 tires that come on the M3P.
Pirelli P Zero (PZ4) tires are Max Performance Summer tires derived from Pirelli's Formula 1 experience and developed for some of the most exclusive and highest-performing vehicles available. Initially introduced as Original Equipment on the Audi A3 and S3, Lamborghini Huracan LP 580-2 and the Porsche Boxster, Cayman and 911, the P Zero (PZ4) includes replacement tire sizes as well as original equipment fitments. Pirelli's warranty does not cover tires that develop compound cracking due to use in ambient temperatures below 45° Fahrenheit (7° Celsius), so the P Zero (PZ4), like all summer tires, is not intended to be serviced, stored nor driven in near-freezing temperatures, through snow or on ice.
I think you'd get home okay, but there's enough of a chance of developing cracks in the tires that Pirelli won't warrant them. So, the primary risk is wrecking a set of tires that retail for $1,665.12 at Tirerack. Personally, I'd take the chance if I knew the tires were going to stay above freezing since the engineers always put a bit of a buffer in things and 32 degrees isn't that much lower than 45 degrees, but I'd be surprised if they can handle 7 degree temperatures in the tires during operation without developing cracks. Also, note that the cracks won't necessarily appear immediately; they can take some time to show up.
Since you already have another set of tires and wheels to put on the car, ask the service center if they'd swap the wheels and tires for you for a reasonable fee. Emphasize the safety aspects and invalidating the warranty on the stock tires if they don't. If you're handy, bring a floor jack, a jack adapter for the Tesla, the appropriate socket (21mm IIRC), and breaker bar, ratchet, and a torque wrench and swap the tires yourself. A battery powered impact wrench is really handy if you have one of those or can borrow one. There's room in the Model 3 for all 4 tires and a floor jack with the back seats folded down, just put the tires and wheels in large garden trash bags to protect the car's interior. It's not much fun to do this in the cold, but I'd do it to make sure I don't destroy a set of tires this pricey.
Jack adapter -
https://www.amazon.com/KEYHAO-Lifting-Adapter-Compatible-Protects/dp/B0932VCLTL/ref=sr_1_2?crid=Q0486IRB8E8N&keywords=tesla+jack+adapter&qid=1675022437&sprefix=tesla+jack+adapte,aps,121&sr=8-2