The cameras need to be well-sealed so they stay dry inside. While fogging of the inside of the lens cover is annoying, I see it as a symptom, but not the disease.
What I'd be worried about would be damage to the electronics if condensation was also occurring on the circuit boards. To me, condensation on the inside of the lens cover means condensation could also be happening everywhere else inside of the camera.
If water is getting into the camera, you need to find out where the camera's seal is bad and correct that. Also, if you do get visible condensation inside, you know that the desiccant is saturated and must be replaced or regenerated, and the interior of the whole camera needs to be thoroughly dried so no moisture is trapped inside once you do get the camera sealed up.
Moisture can damage the electronics, and can also allow fungus to grow, even between lens elements. The fungus will actually eat some lens coatings. That damage is unrepairable.
External condensation is a different problem. As mentioned above, you won't likely ever see condensation or mist forming on the outside surfaces of these ethernet-connected cameras because they're sort of power hungry, and they always feel a bit warm to the touch just from their normal power consumption. Condensation forms when the dew point of the air is higher than the temperature of an object to which it is exposed.
A battery-operated camera may occasionally have condensation form on its exterior if the air temperature warms up faster than the camera warms up and the humidity is high. But this is because of the very low power that a battery-operated camera must have in order to have long battery life. Low power consumption means little heating.
Our wired IP cameras are usually immune to external condensation by virtue of their rather high power consumption.
Internal condensation is reason for worry! It means water is inside of the camera, and this needs to be corrected ASAP.