You are correct that condensation is a problem.
What you need to do is keep your camera in a sealed ziploc bag while inside in the cool. Take it outside and KEEP IT IN THE SEALED BAG until it's warmed up to the same temp (or close) as the outside air. The condensation then will form on the outside of the bag, not on your camera.
If you are in a cold area in the winter, do the reverse---seal it up OUTSIDE and don't take it out until it warms up inside.
Condensation is a well-known issue for people that use pricey cameras. It's a lot worse to destroy a $2K camera or lens than to destroy a pocket version. Photographers who do winter photography routinely carry giant zip bags to put their equipment in before bringing it inside.