Mine was replaced under warranty. It's a 2018 with the Basic Warranty good through Nov this year. However, looking at the warranty it's also limited to 50,000 miles, whichever comes first. So, you're out of warranty by the strict letter. However, it seems pretty sucky of Tesla to not fix this. It's clearly not an isolated problem, and it's essentially impossible to detect for a user unless you get FSD Beta,I came here having the exact same issue. My Model 3 has just passed 3 years in March and has 67k Miles on it. I've gotten FSD in November last year and the issue started shortly after with documented logs.
I've scheduled and appointment in Dec '21, but was told they don't have the part yet and I should come back in the new year. In 2022 I schedule an appointment in March. Before going in, I actually asked about the warranty on the piece and was declined.
I made the point that this should be covered under warranty as the cabin camera was just enabled with FSD and there was no way for me to even check functionality at the time of taking ownership. The service person on the chat declined it but mentioned I could talk to the service rep at the SC during the appointment.
At the appointment (2hrs drive), I was being told by the service rep that warranty cases are only handled by the supervisor and that was the person I spoke with on the chat (the person never identified him/herself) but she would go ahead and talk to her supervisor again.
Off I went with the Uber voucher just to get a call a bit later telling me that her supervisor is out and if I wanted to get the camera replaced it'd be $750 - Tesla can't help me any other way.
Obviously I went back, got the car back without any work ever having been done and left.
Now what's worrying is that despite perfect driving, we've already gotten two strikes (forceful disengagement) which happened within a single second after engaging autopilot. No matter if FSD is activated or not - the car immediately nags and disengages, clearly a sign to me that the cabin camera is broken.
I wanted to reach out to Tesla pleading my case hoping for it to be fixed under warranty, but it seems there are no communication channels for that. Did anyone in here have luck getting this fixed under warranty or know of a way to plead your case to Tesla?