There is a bulletin on this. I haven't read it however. I think the rule is that if the condensation doesn't come and go the dealer should be consulted.

Mine sleeps indoors mostly. If it stays outside for any length of time there will be fog. Once the sun shines on the lamp the fog will clear.

 

Thank you so much. Mine actually went away today. Thank God!

 

There is a Hyundai Technical service bulletin about it. Essentially it says turn on your lights till the heat from the bulbs evaporates the moisture. I have had moisture in my taillight lenses also, and my SC is garaged when home. I have used a hair dryer to slowly heat the lens externally to evaporate the moisture. You have to be careful because the heat from the dryer can negatively impact the lens, but slow application of the heat to the lens works.