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Does the "condensation" stay there all the time?? If so, I had a similar problem. It turned out not to be condensation at all, rather an issue with the plastic housing. If you are under factory warranty still, I would try to push for new ones.
If you know for a fact it's water condensation, remove the bulb and blow warm air with a blow drier inside at low speed. Be careful, take the dryer away every few seconds until it is gone, then let it sit for a few hours. Then reinstall the bulbs.
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