Opening them up to warm up is a terrible idea. This will expose the electronics to any water vapor in the room and greatly greatly increase the likelihood of condensation forming. Leaving them sealed more or less restricts the opportunity for condensation to any water vapor present at the time of shipment from the factory - condensation that would have already formed as the unit cooled during shipment. However, I am guessing the manufacture likely packs the equipment with desiccant that absorbs all water vapor present at packing and prevents condensation. However, the desiccant won’t work quickly enough to prevent condensation from an entire room full of water vapor. Keep it sealed and be patient for 24 hours.
FYI - my day job is Chemical Engineer.
Matt