Nope.
Having sentry On, the car already is awake.
If sentry was off and the car was sleeping, it will be awake for 20 minutes or less.
It will draw ~ 75Wh, so 0.075kWh or around 0.1% on a 3/Y.
I have logged a lot with scan my tesla/teslalogger.
My M3P 2021 (HW3) used 220W during sentry...