I've not put in a claim on F type as they have been perfect, but did on my former XF and as expected it was declined
In general claims are not accepted by manufacturers on condensation unless it is running down the face of the light (streaks) or visibly pooling. I know from BMW, Ford and Peugeot from family experience
Most makes have the exact same problem as they are of course vented to allow for expansion so naturally breath in moist air. In most instances pointing them into the sun for a few hours fixes it.
Any worse than misting and I'd be in the dealers or do as I have on previous cars and remove the rear cover and spend 10 mins with a hairdryer