I get into my 2011 Sonata and
 

All of the windows inside the car, are covered in moisture so bad its dripping water onto my dashboard and I have to use paper towels to wipe all the windows so I can see out to drive. The car had been sitting parked overnight, all of the windows were up (first thing I checked), outside temps had dropped to around 45 degrees overnight. I took the car to the dealer and of course they couldn't find anything wrong, anyone else experience this?

You have to use the A/C to remove the humidity inside the car. If it's cold outside, turn the dial to hot and turn on the A/C or the windshield defog.

I wasn't asking how to remove it, I was asking if anyone else has encountered this problem. It was so bad it was dripping onto the dashboard, I had to take paper towels over every window and the dashboard. There's also no reason why I should have to run the a/c or defog to clear up the inside glass when its not suppose to do it in the first place.

It's called humidity and it happens when the temps drop that much.

Not on the inside when all of the windows are up.

Does recirculate operate while the car is shut off?

Well, yes and no. The fan isn't blowing but the vents are still closed off. So the air isn't moving but the system is still in recirc mode.

Well I live in the hot humid south and it's getting into the low 50s at night nowadays and some nights into the 40s...been driving since '71 and I never had a vehicle that dripped inside from the windows. I have condensation inside but it never dripped. I wonder if its due to the sharper angle of the windshield on these low profile roof line cars...just thinking out loud here...

I just washed our '11 Sonata SE the other day, only had it about 3 or 4 days at that point and noticed that water got inside the right rear window. I'm going to be keeping an eye on this to see if it's an isolated incident or maybe the weatherstrip seal is bad. Might be your problem too.