This is odd - my 2014 GX4h has no condensation problems at all. It's been variously parked in a garage and outside over the last 3 years. As previously mentioned by karl, the only time I've ever had a problem with this is when a heater element (a small radiator located usually under the dashboard in an especially inaccessible position) leaks (or possibly a heater hose connection). Smells of burning anti-freeze when it gets hot and seriously steams up the windows when in use and when the car is left overnight.
If you put your hand up the plastic pipe where the heat comes out to the floor it'll usually be wet, sometimes to the point where it drips onto the floor. My PHEV's not done this (thank god) but I had a Jeep Cherokee that did it twice, and a Citroen Xantia. On both occasions the burning anti-freeze smell was evident, leaking coolant on the floor and a lot of condensation on the windows. Mostly the front windscreen though. My neighbour had it happen on a new Land Rover Discovery.