It was developed and demonstrated. https://www.youtube.com/watch?v=H5V0vL3nnHY My understanding is that it was deemed more unnecessary than unfeasible. That it would change the battery ownership model would also create administrative complications too.
Supercharging improved to 250kW, bringing down charging times. That people need to recharge their Tesla at intervals when they should probably take a break from driving anyway, on the occasions when they take long road trips, makes it hard to justify a battery swapping program.