The key features here are that the upper uses the ankle-high shape and Flyknit fabric familiar from Nike's football boots. To put it in non-technical language, it's like wearing a very grippy sock ...
It's hard to be 100% sure, but we and Flight Club estimate that Musk is wearing Nike Lunar Flyknit HTM NRG, a shoe created by renowned design trio Hiroshi Fujiwara, Tinker Hatfield, and Mark Parker.