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It might be worth trying a CD lens cleaner disc. In my experience they tend to do little, but it's worth a couple of quid to give it a shot.
This sounds like condensation forming on either the disc or the lens as the car warms up. It's common when something is taken from a very cold environment into a warmer one, so I suppose it could happen just as easily as the car starts to warm up. As an experiment, try taking your discs in the house of a night. That way at least the discs will be warm.
As a last resort, see if you can borrow a spray duster (or buy one, but they're ludicrously expensive for compressed air in a can) and blast it through the slot. This could fix it, but equally could push it over the edge. So treat this as an absolute last resort if you're resigned to binning the old player anyway.
Currently in Horatio's garage:
2010 Laguna III Initiale.