It is not normal. The headlight assemblies need to be water tight because of the type of halogen bulb that they use. The dealer should replace it for you if you are still under warranty....they will however need to see the condensation in the light & may need to take a picture of it that way in order to warranty it for you. I hope this helps.
Go above the dealer and call the Kia of America customer assistance number. The dealer is not the last word. The phone number should be in your owners manual. Also remember that you are in need of something when you call not them. in my past experiencese in the dealership world most people just saw big company and would start yelling. Start out by complimenting them about the quality of your vehicle and that you really love driving it.....lol don't start with anything close to "I was going to buy another one!!!".....everybody uses that one!!! Ha Ha...hope this helps