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Do you see any damage to the camera lens, dirt, grime, scratches?
Most probably fingerprints smudge on the lens cover.
Being a waterproof phone, this is easier to clean.
It also happened to me one time after waterproof test..
The situtation is after I have made waterproof test & without cleaning back cover.. I put my phone inside my jean pocket & watch cinema movie for 2 hour..
After i left from cinema & when i took picture, it is fully blurred.. When I look at back camera lens, i found some water steam on my camera len... So, i give some heat to the camera len & left my phone for one night.. In the morning, the steam goes off.. After all, the camera works completely fine... This is also one of the solution for your problem...
What you described is most likely caused by condensation.
When you move from a cold place to a hot and humid place, water condensation will happen in a lot of surfaces.