I also get the LiDAR blocked warning sometimes. Very common when snowing, and it is always associated with snow/ice caked on the sensor. I have only occasionally had it happen with rain. When it does happen with rain, it seems to be associated with a dirty sensor from road grime that gets kicked up by cars in front of me. I am surprised it would happen with mist. You could try cleaning the sensor with a detailing wipe before going out in the mist/rain just to be sure there isn’t preexisting grime causing issues.
Perhaps a crazy idea, but I wonder if they could design a wiper for the LiDAR sensor with windshield washing fluid to help clear it.