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MikeyBatz Dealership doesn't want to replace/repair anything unless they see it with their own eyes.. same logic works with my dealer. I had slight condensation, but it kept going away, coming back. Eventually moist will be trapped and there should be puddle of water inside the tail light. Then bring your car back to dealer. That's what I did, and they replaced with without any question.
Even after getting them replaced, same shit happened again. There's DIY on making your own gaskets. I picked up 2 foam sheets from Michaels, letter size. Cut it to actual size and replace factory gasket. Worked perfectly fine on mine, now I have to do for the other one soon.