Didn't see any on Makerworld so whipped up this little tool. After fumbling around with a small screwdriver to remove the headrest in my Tesla Model Y to install a babyseat, I decided to just make a simple tool you can keep in the car to help with the removal.
You just stick this in the little hole on the headrest bracket to push the button while also pressing the button on the other bracket to move the headrest out.
Just made a v2 of this tool. Check it out and let me know if it works for you! (https://makerworld.com/en/models/236254#profileId-252408)