I noticed a foggy film on the inside of the passenger side headlight. Is this something that should be covered under warranty? It has been there for months.

 

Take it to the dealer and get it checked out. The 2nd Gen RX had this issue and there was a Service Campaign to replace the headlights as moisture inside the headlight assembly could result in electrical shorts.

 

Yeah your headlights do not look so good, they maybe be sick and may need to be checked by trained professionals