Hmmm... Do you pressure wash your car much?
Not that it should matter, but condensation shouldn't be much of a problem if your lights are sealed properly. It could simply be a case of the bulbs being installed on the car in a humid environment.
Quick solution (if you want to skip the visit to the dealer) would be to take the lights off and blow-drying the lights hot, with the bulb sockets facing up. Once the condensation has disappeared, let it air out for a moment. Then briefly blow dry again and then promptly install the bulbs and then seal with the OEM rubber caps. This would create a good enough vacuum that should keep it relatively moisture free.
As for prevention, you could try applying more polyurethane black window sealant (3M auto window sealant - Autozone, etc.) to the creases between the lenses and housing pieces of the lights. Then do the same for any other "breather" holes in the housings as well. Note, though, that the more sealant you apply the harder it will be to open the lights up (pertinent if you're a modder

). It may also void warranty if your dealer is a stickler, as they might think you've tampered with OE equipment.
Good luck
