According to Audi and the manual it can happen and is normal. It doesn't shorten the life of the bulbs allegedly. Just drive with the headlights on for a while and it will evaporate away with the airflow over the car. Ditto if you get it in fog lights (though other people will think you are an ex Saxo driver for using fog lights when it isn't foggy).
It is common to have the problem on the LED headlights.. The seat's also have the same problem due to the LEDS not hot enough to evaporate the condensation ! Don't worry though.
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