That is why the fact that you have had the property on the market will be a problem, but many lenders will do it if you take it off the market and sign a letter saying you intend to stay in the property. See if the lender is still paying those closing costs in return for a higher rate if you do a no closing cost loan.
Now in order to refinance your condo lenders will require it to be off the market, some just 1 day, some 3 months, some 6 months, it'll vary as each lender is free to create their own requirement. Usually not much more is needed than that, lenders used to require you sign something stating you have no intentions of putting it back on the market again but I haven't seen that in quite some time.
Since you have had it listed, a lender may choose not to pay your closing costs because by doing so they are looking for you to have the mortgage for a certain amount of time (6 months minimum but they are making their money in interest rather than the fees, so the longer you have the loan the happier they'll be) and I bring this up because if they know you are possibly going to re-list the property and pay their mortgage off after they give it to you, they won't be making that interest.
Also the fact that you've had your condo on the market for a couple years without it selling may be an issue to some lenders, as it doesn't seem like it's very marketable (or at least at the price it's listed at). Not all lenders will make a deal about it, but there is that potential.