If it's just a bit of condensation on the inside of the lens it should clear up on its own. This is normal apparently. If the water starts to pool then it's an issue. From your description it sounds like nothing worth worrying about.
In the recent colder months I have noticed some mild condensation after washing my car and after reading other posts on here I raised a service request with Tesla and their response was what I have just offered above. My car is coming up to 1 year old so wanted to ask the question with Tesla before the year is up. They're not bothered and too be honest nor am I - it soon clears away on its own.