I fixed this problem on my 2004 Sienna. The moisture seems to come in from the top of the headlamp assembly. I generously applied Permatex Super Clear VINYL SEALANT to the seam at the top of the assembly after drying out the moisture by remvoing the bulbs. There are vent at the bottom of the assembly which should be open; there's a liitle foam plug that let's air in so the assembly is not intended to be airtight. There has been no moisture problem for about a year.
I have written a detailed step-by-step tutorial on how to remove your Toyota Sienna headlight and seal the leaky seam: How to Fix Moisture in Headlight Toyota Sienna Share Your Repair
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I have the same passenger side moisture in headlight problem. Maybe it's Toyota that has a problem and just refusing to admit or help with solution. I know of several other instances with the same problem and even if replaced, it seems, the problem continues,..engineering?
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