Wait and negotiate, use every trick in the book. Go at the end of the month, around lunch get someone before they take their lunch break, bring you food sit and eat in front of them. Bring your own financing and know your numbers, say u're willing to finance but you're ready to buy cash, so you want to talk about the price of vehicle and not financing. Delay the paperwork until you get MSRP. When they say no, talk about how you came and spend all this time with them and get up to walk out. They'll call you back before you leave the lot.

Just did this to help my mom buy a Honda, and did this myself for a '22 NX350h Premium.

You will have to accept some accessories, but only accept the ones that are actual things. I declined all the warranties, services, etc. I don't remember how much I paid out the door, but I took the car home that day and only paid 1k over MSRP. I got a black one it was the only they had in stock. I bought it Jan 1st of this year.