https://www.themarysue.com/tesla-dog-mode-safe/

Every year, we hear horror stories about animals being left in hot cars. But be aware before you break the window if you see a dog in a car on a hot day. Only 15 states have laws that allow civilians to rescue animals with impunity, even if it means breaking the window.

This means that in most states, your most legal option is to call the police.