All headlight enclosure are vented to the environment. Typically they will only warranty replace for this if there is a lot more condensation which doesn't evaporate cleanly after you have your headlights on for a few minutes. Your headlights have very light condensation inside the lens. It can actually be much worse in some situations.
These threads are fairly common and a lot of people who have never noticed it will say it's not normal. It is normal though as long as it goes away and you don't see staining.
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