If the seals between the lenses and the headlight housings are broken and causing leaking, the lenses can often be removed by heating the headlight units in an oven - lots of YouTube videos on that. Then reattach the lenses with an appropriate adhesive.
Moisture in headlights can also be caused by their vents getting clogged up - even spiders can do that. Verify that the vents on the headlight units are clear.
My favorite headlight lens restoration kit is one from Sylvania - about $20 at stores and online. I've made some really awful looking headlight lenses look like new with these kits.