There is a noise canceling mode that let's you hear what is received by the microphone array and an option to "filter in voices while suppressing noise" (they call that voice passthrough). That section of the app is called "Ambient Sound Control" if that helps your research.
The method I've seen is to run a carputer with Android installed and use the Tesla web browser to connect to it (no jailbreak needed).
https://teslaandroid.com/