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Did you install aftermarket HIDs where you drilled a hole in your headlight cover? I had moisture in my headlights for this reason. First I used a hair dryer and blew into the housing from the cover. Then, I took those tiny white bags that are used to keep food fresh and moisture out and taped them to the inside of the headlight covers. Then I redid my seal for the rubber grommet with duct tape. Haven't had moisture for the past 6 months.
my headlight was replaced after someone hit my car. less than a year later i had moisture in the headlight that was replaced. After a few weeks my hid went out. I took it to the shop that did the work, and lexus replaced the headlight and hid bulb for me. Thank god cause i heard the headlight is about 1000 from the dealer.
I'm assuming the moisture is just in the light casing and not the actual light itself. In the casing, the moisture won't hurt your lights in any form or fashion; it's just a cosmetic thing if it bothers you the way it looks. If it doesn't bother you than just let it be, but if it is covered under a warranty than why not get them replaced for free?
I had moisture in my headlight casing on my old junker car for years and had 0 problems.