I just noticed my passenger side tail lamp has condensation in it. Is this covered by the factory warranty, since it should be a sealed assembly?

 

"Bumper-to-Bumper".......In other words....YES

 

You might want to make sure that a bulb socket is not loose. I had a problem with condensation in one of my lights and I believe the cause was a loose turn signal socket. After reseating the socket, I haven't had any problems.