Absolutely could be a clouded windshield on the inside (where it's really hard for normal people to clean). I brought this up when I got my last Model Y that it was foggy and they said it was "fine". Took it into service over a year ago and noticed they cleaned it. Clearly it's a problem but they're not being too transparent about it. I suspect they don't want to because it's not the easiest thing to remove the cover for normal people to clean.
Recent Tesla updates will detect dirty glass inside the camera enclosure and offer to schedule (one!) free glass cleaning. You can do it yourself if you have a trim tool. (A thin plastic prybar) https://www.notateslaapp.com/news/3327/tesla-now-offers-free...