Get Your Headlights Clear Again

Check the bulb for a loose connection, or replace bulb

The headlight is an assembly and will have to be replaced as such. If the damage isn't too severe, sy just a crack, you may be able to repair it temporarily with a hot glue gun. If you can keep moisture from getting to the halogen bulb, it will work until you can have it replaced. Even though it is a 2010 model, check with the local salvage dealers to see if you can find a used one.

Most headlights lens are sealed up to prevent this problem. A broken seal or a crack somewhere opened up to let in moisture.
You can drill a small hole on the lowest part of the plastic headlight housing to let the water drain out. Or, replace the plastic headlight assembly with a new sealed one.The plastic headlights turn yellow and cloud up over time (not because of moisture inside, because it's plastic getting ruined by the weather and the sun). This problem reduces headlights from putting more light on the road.
The only thing you can do with moisture inside the headlights is to drain out the water that builds up. The seals on the headlights are bad right now and are going to keep letting moisture in. I would replace the both headlight assemblies for new sealed, clear ones.

It is a pain in the ****. There is a handle under the hood, behind the headlight that slides to release the whole headlight lens. It sounds easy but the slide is usually got all kinds of dirt and rocks in it and won't slide.