Motor Connection:

  

Arduino to Model Y Connection:

Tracking Sensor to Arduino Board Connection:

IR1 A0
IR2 A1
IR3 A2
IR4 A3
IR5 A4

If you have OSOYOO Wifi board, You can direct connect tracking module to the tracking slot in wifi board as following: Software Download:
https://osoyoo.com/driver/v5car/v5car-tracking.zip