If you live in a climate that resembles a steam bath can you realistically expect different?

Now with digital cameras, and you don't have to be so concerned about the heat deteriorating the film, allow the camera to be in the sun for a short period so it is a few degrees warmer than the atmosphere, then any condensation of moisture on the lens, for instance, should dissipate. Condensation usually only occurs on objects that are colder than the air temperature, which would be the case if you went from an air-conditioned home outside during the day.

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Will condesation result to more permanent damage to my lenses?

Well, short answer is: it very likely could, because it would encourage the formation of mould in the lens, and that is a major disaster, as the organism is quite capable of permanently marking the lens and may be/is impossible to remove.