I get the same exact error on my 21 refresh S. Also only happens at night time. I got my windshield tinted, so I think that plays into it, most likely the cabin camera is not getting enough light, and not a physical object blocking it. its a small camera and most likely has a very small light sensor, and would be sensitive to loss of light, either by window tints, low screen brightness, ambient lighting being off, etc.
I made a service appointment, they looked through the error logs and said the hardware is fine, no need to replace cameras. I then asked if there was a way to reinstall the car software, they said sure. They pushed it to my Tesla app within a minute or 2. Installed the software (took about 30 minutes to instal). Haven’t had the problem since.
One other thing that I saw on Reddit was turn ON the ambient lighting and make the screen brighter as well, maybe switch the white background instead of black.
Hope that helps.