I honestly love the minimalism of the Model 3/Y. I can understand why some people think it feels "cheap" without all those fancy gauges and gadgets and such, but personally I prefer sleek and efficient over "fancy".
I don't think the Tesla interior feels cheap because of the minimalism. I find its annoying. I hate not having gauges in front of the driver. I also hate having to use a touch screen for all controls instead of having physical knobs or buttons. And this isn't a Tesla exclusive problem, its something a lot of manufacturers do and I hate it.
It's more likely a response to the years and years of Taycan is a "Tesla killer" articles, when it clearly is anything but, than anyone actually getting mad about it.
I blame journalists for writing headlines to get clicks calling every new electric car a "tesla killer".
For the Taycan, I think Porsche knows their audience for the car. They don't need to sell more than Tesla, because with its high price, I'm sure they make good profit on each one. I don't doubt they've said they plan on beating Tesla, but every manufacturer says that to build hype and get people interested.
Its like the poster above comparing the Taycan vs Model S to the Corvette vs 911, which I think is pretty accurate. While they are called rivals, I don't think potential buyers really cross-shop them. The Porsche is more expensive and its slower. The Corvette is the clear winner for most bang for the buck, but a person buying the 911 knows that and doesn't care, as the 911 is a nicer car to drive. I imagine the comparison is similar in regards to the Model S vs Taycan.