Had a '99 Cougar that did that-passenger side, too! There is a bad seal between the housing and the lens, and is a material and safety defect. It should be covered under your 3/36000 bumper-to-bumper warranty.
I do not know if there is anything abnormal about your situation - our humidity is so low out here I doubt if fogging would ever be an issue. But I do note that there is a rather detailed section in my 2020 manual that describes "normal" headlight fogging. Rather odd for them to document the issue if it was not really to be expected. Maybe this is predominately to enable them to deny warranty claims, but that would seem a little far fetched. You might want to check that out to make sure your issue is beyond what they describe before you push your dealer to fix it.
your dealer may just replace the lamp but the warranty information the dealer has states that fogging up isn’t a warrantable issue until there is droplets of water on the inside of the lens or puddling water in the bottom of the lamp. There’s breathable gortex patches on the headlights and if it works like it should the moisture should dissipate. I’m just telling you what the manual says that dealers go by on what’s covered and what’s not and fog isn’t covered but like I said you can take it in and they may go against protocol and just order a new one.
I read about that and I understand some fogging is normal hence my initial suspicious that it's by design and all Escape exhibit this. If there was random fogging on each lamp or it varied I would be concerned.