OK, if you have visible droplets on the inside of the housing, there is a TSB for it. TSB: 13-Jan-05 - 08-002-05 - Lighting - Condensation in Headlamps

This, if you have the dealer take care of it, a 4-6 hour spell with the car on a battery charger and the headlights (lows and highs) on to dry out the housings. With the big rubber caps off.
Then they install a kit whcih include 2 little rubber caps to replace the small "T" things in the upper, outside corners and 4 big caps with permeable membranes to replace the big solid rubber caps. Instructions can be downloaded at time of purchase and should be provided by the parts department.

This kit costs ~ $25. The labor for them to do this is ~ $125.

My suggestion is to buy the kit, dry them out yourself and put the caps on.

Pocket the $125.

I did this exact thing and it worked.