Don't think there is any real way to get rid of condensation in this way, as water vapour is a constant ingredient of the air. Only if they were vacuum sealed maybe, but thats probably impractical and expensive.
It will come an go, I used to notice it with my Mk2, but other days it wasn't there, so just temperature/atmospheric conditions.
But as other say if you getting a lot of liquid water collecting inside the headlamp unit, thats another matter and needs looking into.