4th gens had well known issue with the firewall leaking on the drivers side. Water would run down the firewall then underneath the dead pedal and water would pool under the floor mats and carpet. Mine did this. But I have not heard that 5th gens have the same problem yet.
When my 4th gen leaked it added enough internal moisture to cause condensation like you described, on the front wind shield and sun roof.
If you don't have any leaks then make sure you run your AC with heat to dry out the interior, turn off that recirculate button.
There are some threads on the 4th gen side that describe the leak and how to solve.
https://www.toyota-4runner.org/4th-g...ml#post3345102