There are a few things they developed for the Cybertruck, like 48V architecture and ethernet communications. Some of this was kind of required for things like steer by wire 4 wheel steering, but it could be pretty easily argued Tesla was going this direction anyway. They didn't need the Cybertruck for it. They are also not the only company doing this, so i don't see anything really special here.
A big kind of unacknowledged failure is the 4680 cell, which was supposed to be the next big thing for them. It's in some of the Model Y and the Cybertruck were suppose dot get a new generation, but clearly that hasn't been very successful yet. They've struggled with volume and energy density from their initial plans, which is one of the reasons the Cybertruck range is so piddly. The cells haven't lived up to the promise.
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