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Condensation in Taillight

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Service Center says it’s within normal spec and is not replacing. Being this is my first Tesla is this normal?
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Yes it is normal (for Model 3 at least). The lights are intentionally not sealed, so condensation is not a sign of failure.

They frequently fog up like that, but they always dry out.

I assume that the model Y lights are the same as the model 3 lights.
 
No, not normal. Mobile tech just came out today and replaced mine. Took him all of 10 minutes to do it.

What he told me was that is you see a little condensation in BOTH taillights then that is normal. But to see it one and not the other indicates the one with the condensation has a problem and should be replaced
 
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Here is a long thread about the tail light condensation in the Model 3.

MASTER THREAD: Moisture condensation in taillights, fog lights, etc

The conclusion from that thread is that Tesla will replace it if there are large waterdrops fogging is considered normal.

Of course that thread was about 2018/2019 Model 3 and it totally possible that in 2020 or the Model Y they have changed the part and that the fogging isn't normal in newer cars.