Is there a non removal remedy for this issue?

 

I'm pretty certain the main cause is the adhesive between the lens and housing has gave up, so the only way to fix it is to have the headlight apart unfortunately.

I also have the same issue, although it only occurs rarely so I don't really bother with it much.

- Khoa

 

Condensation can be removed by opening the lid and left open while lights are switched on blow cold air in with a hairdryer
I removed my gasket ,gently soak cleaned with a tooth brush in warm soapy water .
I put a thin stripe of silicone into the guide then put the dry gasket back in it. Not having any issues since