[ Maintenance & Repairs ] Open Question : Condensating Pipes Inside Wall?

Purchased home and discovered one section of pipes which have been condensating for who knows how long, causing issues with the sheetrock. These pipes feed water to the washer/dryer. Plumber confirmed no leak, just condensation. Would we have to remove entire sections of wall just to add insulation to the entire length of the pipe? Not sure how long pipe goes on for. Any suggestions or advice? Thanks! Thanks for the advice; I’ll be contacting home warranty to get another plumber to rule out any underlying issues.