This is totally normal and your seal is probably fine. The moisture from whatever you're baking - especially dough, cakes, or anything with water content - rises up and hits that cooler glass panel. Since the inside is hot and the outside air is room temperature, you get that fog every time. It's just physics doing its thing.
Cracking the door works, but here's something that actually saved me a lot of hassle: wipe down the glass with a dry cloth right at the start of preheating, then keep a dry kitchen towel nearby. After about the first 10-15 minutes of baking when the worst of the moisture release happens, do one quick wipe without opening the door all the way - just crack it enough to reach in. That single wipe usually clears it for the rest of the bake because you're catching the condensation before it builds up thick. Way less annoying than constantly opening the door, which can mess with your oven temperature and throw off baking times.
If it ever gets so bad that you literally can't see anything even after wiping, or if you notice actual water pooling on the frame itself, then yeah check the seal. But for typical fogging during baking? That's just how it goes with every oven I've used.