Cracking the door open just an inch or two while baking makes a huge difference - lets some of that moisture escape before it hits the glass. I had the same thing happen with mine and was frustrated until I realized I could peek through the gap anyway, which defeats the fogging problem entirely. The seal is almost certainly fine; it's just physics - hot baking creates steam and it condenses on the cooler door panel. If you really want to see inside without opening it, some people swear by those oven-safe mirrors you can prop on the rack, though honestly the cracked-door method works best and you get used to it pretty quickly.