I never got used to it after 20k miles in my Model 3. I guess I just got comfortable with not knowing my speed until or unless I was in a situation to take my eyes off the road for enough time to see it. I remember a few times passing someone on a two lane road and looking down after completing the maneuver to be quite shocked at the triple digit speed I sawThis is really the least of my complaints about the Model Y. The speed is listed in the upper left corner of the screen, so you can see it with peripheral vision and get used to it like after a second short drive.
There is also now a 3rd-party binnacle available with a replacement dash for $1,000 installed or $800 self installation.
When I was considering a Y I knew with 100% certainty that I would get one of those binnacles, which oddly enough look a whole lot like what the ID4 has... from the factory...