The biggest things folks don't do is allow enough ventilation at night when they are sleeping. Leave a roof vent crack about a 1/4 turn and a lower window like the pass through window cracked about a 1/4". Another issue is to let the temp inside the camper drop at night. The lower the difference between the outside temp and the inside temp the less condensation will try to form. Between these two, I've never had a condensation problem either on the bed or on the windows.
When you cook, make sure you open the vents and windows even more, try to use the stove vent if cooking something that steams.
All this said, I did add a 1/2" foam board under the mattress to provide a bit more insulation since I camp in temps down to 0*. Takes two pieces so under $20. The scraps can be used to make pieces that fit snugly in the windows you don't care about seeing out.