Normal. Some of our rigs even have a nice slightly sweetish smell in the morning like a good cup of coffee. When it's been a cold dry night my 4Runner leaves a small stormcloud of moisture behind me.
If you leave your hand in the exhaust, it'll come away with a nice coating of water. That's your catalytic converter doing it's job turning nasty gases into harmless water vapor.
Unless you see a cloud behind you all the time, expecially hot, keep on truckin'. Or 4Runnin'.