The surge in automotive cybersecurity regulations necessitates a structured risk management method. This work examines these regulations, details the European cybersecurity legal framework, and explores the ISO/SAE 21434's threat analysis and risk assessment (TARA) approach. Implementing TARA in real-world scenarios presents challenges, such as identifying the correct assets or performing accurate threat modeling. This book employs a pragmatic approach to TARA across three domains: electrical and electronic systems within the vehicle, the vehicle's connected ecosystem, and manufacturing plants, integrating insights from ISO/IEC 27000 and IEC 62443 standard series without seeking to harmonize them. This book offers a technical guideline for TARA, presenting detailed case studies across these domains and emphasizing technical rigor while ensuring efficiency.