Condensation is normal because the housing is vented to deal w/ expansion when the lamps heat up. It will dry up when you use the lights. But over time the housing will develop a film that will make it look like there is a cloud inside - this is when you take it to the dealer. My '10s head lamps was replaced by SOA a few months ago.
GL dealing w/ SOA or your dealer, bring up the issue when you're in for a major service - it puts them in a spot to help you out