The Rivian R1T is capable of charging a Tesla, or really any other electric car. The fully electric pickup truck has plenty of power on tap, though the more important part here is its built-in inverter that allows it to deliver power to other EVs.
It's important to note that while Tesla's vehicles aren't yet designed or equipped to deliver power to things like your home or another electric car, there are already multiple EVs on the market that can do just that. Some come standard with the capability, while others offer it on certain trims and/or as a special feature, which costs extra.
The Ford F-150 Lightning can power your whole home, though you have to buy above the base model, and there are other costs involved. You can learn much more about it by checking out this article, as well as our exclusive Q&A.