I have had this problem with my 2020 model 3 since I got it in Dec 2019. I live in northern Wisconsin, so days with high temps below 0F are common. They came out last year in February and removed the GoreTex patches to improve circulation. I still have the problem. I complained this year and the service guy said it was “environmental”. I questioned how they can sell cars where they know they have a design problem. It would be simple to fix, as you don’t get the same error from the front cameras, and they have a defogger on the glass in front of them. All they need is a defogger to fix this. He said they are working on it at Tesla, but given that fart sounds and new games are coming out, I believe the priority is very low. Everyone that gets this error needs to report it for service. The only way it will get a higher priority. I also filed a report with NHTSA, as this is a safety issue. They need some pressure from us. Preheating for a half hour doesn’t work here.