Sorry but it's BS and only acceptable to Ford not the customer. Some OEMs have this issue and some do not on their HIDs. Guess which ones put higher quality housings in their vehicles? Quality control is lacking on these units evident by the fact that some F150s have the issue and some do not.
That said, I had the same issue when I first picked up some '14 HID takeoffs and installed on my truck. Condensation would come and go depending on the weather conditions. After some research I found a solution on the Hyundai forums of all places. The Genesis has a similar issue.
First pull the headlight out of the truck, remove the bottom connector and bulb and turn the whole thing over to dump the water out. You'll be surprised how much may have accumulated over time. Then take a hair dryer and get it as dry as possible. Rig it up and leave it for half an hour or so.
Then find a small desiccant pack and place it inside the very bottom of the housing pushing it back far enough and wedging it there so as you won't see it from the outside once the headlight is reinstalled. This will take care of any moisture before it has a chance to build up and fog the lenses.
I also ran a bead of clear silicone all around the original black seal because I could see pin holes in various places.
I have about 6k miles on the truck after this fix with no further issue.
