Bumping this thread, since I’ve been having the same issue and wondering if is normal. I’ve had my Y since March, but it’s only been the past few weeks I have noticed a problem. I will generally see a left or right “pillar camera blocked or blinded” when driving in the morning, always on the sun facing side of the car. When I check the camera, it has condensation exactly as pictured by the OP.
Bay Area weather is cold and wet right now, so maybe this is why I am only seeing this issue. Do other drivers experience this? Anything I can do to resolve it?