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If you've got documentation from the dealer that you complained of this while your car was still under warranty, I strongly recommend calling Lexus @ 800-448-1505. IF (and I don't know the answer to that, but the TSB makes me think it will be covered) it is indeed a coverable item, the Lexus customer service rep let you know by giving you a claim / reference number for the work to be done and then the dealer can get stuffed.
My dealer is lazy. I had to go this route on a separate item this fall...
3 sets of headlights and all had condenstion, even these new ones but they arent as bad. only when we have weird and sudden temp changes all involving rain..its annoying as hell though!!
I've just notice that I had condensations on both of headlight as well..After a long rain last weekend...It's suck....Check with the dealership and it aint cheap...