Yes. RSU are taxed as perquisite on vest. But for ESOPS (NQSO - Non Qualified Stock Options), I believe they are taxed on exercise (not on vest). On exercise, you will get taxed on (FMV - exercise price) added as perquisite income at slab rate. In India, NQSO and ISO (Incentive Stock Options) may be treated same (I think) for taxation in hands of employees. So for startups, you could "exercise and hold" when the FMV (as decided in quarterly board meeting) is same as your grant price. This way the perquisite stays zero. And you only incur capital gains when you sell them when startup is acquired/goes IPO etc.Esops or rsus will get taxed as soon as they vest.. As per my experience.
The companies j worked with, deduct 30% and vest whatever is left.
What you said about elon and company is grue, they dont take salary and they only rely on dividends. But that wouldnt be the case for commmon man
Disclaimer: I am not a CA and this is not tax advice. Please consult CA for accurate guidance.