If you live in a humid climate its normal. Lights are not sealed 100%. They all have some sort of vent. You can try talking to your dealer about warranty but unless its an excessive amount theyll probably tell ya its normal.
Happened to me a couple days ago. Was a cold rainy day and first time the Bronco was out of the garage for a few days. Put it back in the garage and next morning light were clear again. I live in what they call a ‘convergence ‘ zone so it’s basically like a swamp all winter so maybe this how it will be till it dries out here.