On the amounts:
I suppose it depends on what their contracts stated. Board positions are contracted positions with specified terms. If the value of TSLA's stock appreciated more than anyone could imagine, I don't necessarily see why shareholders should be pissed, given they are sharing in that upside. The nominal payouts might be significantly larger than normal, but does that matter if the stock appreciated far more and quicker than normal?
Nepotism:
I've always hated Nepotism, but admittedly, that's partly biased as none of my family were in positions of substance, significance or wealth and could impact my hiring. Additionally, most of the firms I've worked for had a stated "No Nepotism" policy whereby you could not refer or employ family members.
Board Makeup:
All that said, I hadn't even heard of Musk's brother before, but the guy was pretty damn successful in his own right. I'm not familiar enough with him, the rest of Tesla's board or what it was seeking for Board Members (meaning candidates and their skillsets), but he was far more qualified than a relative of a diplomat or politician (Hunter Biden).
I wouldn't necessarily dismiss a celebrity from a board position, but I would hope those in charge of recruiting and shareholders would seek the best candidates. In some cases, Peyton Manning or Dolly Parton may be beneficial for marketing reasons (e.g., Dolly and Victoria's Secret), but I hope those in charge would have seriously considered those facts during the process.