I like this exercise Dan, although it doesn't cover all the practical issues in play
Building on your example ...
Take a glass saucepan and lid out of the cupboard in your nice warm house and fit lid, then straight away walk out into the sub-freezing outdoors.
Does condensation form on the
outside of the glass saucepan? No.
Does condensation soon form on the
inside of the glass saucepan? I suspect it will.
(it still has warm air in there, in intimate contact with the rapidly cooling glass walls - much like the inside of a lens barrel, front/rear elements and the insides of camera)
Now leave the glass saucepan (with lid on) outside (in a dry place) until it reaches outside temperature.
~ optional beverage break ~
Now go grab the glass saucepan (with lid on) and bring it back into the toasty warm house straight away.
Does it sweat?
On the outside: Yes
On the inside: I suspect not.
Of course, I haven't actually tried this experiment, it is (thankfully) rarely cold enough here to do it where I live.