It's not condensation in the tank that's the issue, it's condensation in the oil. There's always a little water vapor in the crankcase as it's not a sealed system. Running a bike up to temperature puts it right into vapor form and it escapes. If a bike is started and run a number of times, but never brought up to temp (which can't really happen without a little load on it), the condensation instead causes more and more water in the oil.
Is the amount significant? Who knows. But that's where the recommendation comes from not just starting a bike without the intention of riding it. The other reason is that without running the bike at operating speeds, it is draining the battery rather than recharging it; though that last problem can be dealt with by using a battery tender or other trickle charger during storage.
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