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The issue is not going to be with the thermostat settings.Could be that settings in air handler for fan speed need to be changed.If evaporator is running too cold the panels will sweat.Is the ceiling sealed in closet so no attic are can get to unit?
I doubt the insulation is going to be the issue really unless units are over 12 or 15 years.Most likely either fan speed needs to be changed or charge adjusted so evaporators do not run so cold.Do you have a thermometer to check temp of air in and out of air handler?
Yes .WE should have between 17 to 20 degree difference between air in and air out.Any more would indicate coil is running too cold.
JUst look for probe thermometer hat reads from 1 to 100 degree is fine for this
Let me know what you find