By that theory, I would have to drive the exact same conditions every day under the same lighting but I don't. It doesn't matter if it's daytime or nighttime, foggy, sunny, cloudy, sleet, rain, snow. If it's not a perfectly dry 70+ degree day I get moisture on the passenger side camera lense. This is because there is moisture in the air that makes its way into my lense. OK, headlights are a slightly different animal because of heat, back when we ran HID headlights they got incredibly hot and some needed to be vented, this is no longer the case with LED lights as they do not create the same amount of heat. A camera does not need to be vented because it does not create heat. An HID headlight would clear up moisture relatively quickly because it does get hot. A camera, on the other hand, does not, the only way for the moisture to go away is by an external source. If I lived somewhere warm it would be less annoying because you're right by afternoon the problem would resolve itself but I live in Canada, which means for eight months or more of the year and even on rainy days in the summer it isn't hot enough to clear up the moisture.
I've had my car since late august and the problem started in September which means for the vast majority of the ownership of my brand new relatively expensive car I've been getting error messages pretty much every single time I drive it. I love Tesla but in no way is this acceptable.