Seems really odd to me to have 400V brake regeneration and run the brake booster off of 12V, but quick searches don't reveal the answer for a Tesla or even a Prius.
The most recent Teslas (Model Y Juniper) have gotten a bit less conventional as they now have blended braking. ie: the brake pedal controls both regenerative and friction brakes, with the brake pedal "feel" effectively implemented by software.