How do I get rid of and prevent condensation in my headlights?

Two things come to mind with this problem. First is that you may not have gotten the bulb socket improperly installed, so the headlight embly is not "Air Tight", or possibly the rubber O-ring seal got torn on re-installation. Secondly, the headlight housing itself is not sealed properly, allowing moisture to enter the light embly. If this is the case, it should still be under warranty. Take it back to the dealer and have them repair/replace the headlight embly. I don't believe that changing your headlight bulbs will void your warranty, unless you broke something (but a good dealership should replace it anyways). Good Luck, HTH!!