The dealer said it's normal for me too and told me to bring it back only if water starts pooling. All I had to do was tap lightly on the lights once or twice until the condensation dripped off and started pooling at the bottom. You can see in my picture where the condensation was falling after tapping on it.
Dealers make people jump through hoops all the time when there's something blatantly wrong. It was only a matter of time when there's so much condensation in the light that it starts pooling. I just helped it along. I wasn't willing to wait until it fills up all the way and shorts something out. It's stupid.
The second guy helping me with it was nice about it. Got mine replaced within a week after doing this.