I’m waiting for a mobile service visit for my ‘20 M3 AWD, but I can tell you the company line. If your car was manufactured before March 2019, there is a service bulletin fix that involves removing a fabric patch behind the pillar cameras to allow better air circulation. If your car was made after that date, there’s no patch and no fix unless they find a hardware fault in the cameras.
Apparently one of the recent firmware updates made the pillar cams more sensitive to blockage by condensation, and cold weather made condensation more likely. Tesla service tried to tell me that disabling some AP and NoA features as a result was for my own safety!
When pressed, they admitted it’s a know issue and they’re working on a firmware fix. In the meantime, they suggest using the app to warm the car in advance of a drive and aiming the vents at the pillars.