Is this normal or should I have it looked at?
Here is the information from the owner's manual, maintenance section, to assist with a warranty claim:
Lamp Assembly Condensation.
Exterior lamps are vented to accommodate normal changes in pressure. Condensation can be a natural by-product of this design. When moist air enters the lamp assembly through the vents, there is a possibility that condensation can occur when the temperature is cold. When normal condensation occurs, a thin film of mist can form on the interior of the lens. The thin mist eventually clears and exits through the vents during normal operation. Clearing time may take as long as 48 hours under dry weather conditions.
Examples of acceptable condensation are:
• Presence of thin mist (no streaks, drip marks or droplets).
• Fine mist covers less than 50% of the lens.
Examples of unacceptable moisture
(usually caused by a lamp water leak) are:
Water puddle inside the lamp.
• Large water droplets, drip marks or streaks present on the interior of the lens.
Take your vehicle to a dealer for service if any of the above conditions of unacceptable moisture are present.