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Mine do exactly the same. - have spoken to VW and there is no fix listed for the problem.
I use to get this problem on my Ibiza and to fix that I drilled a 3mm hole in the bottom of the covers on the back. Was going to give it a go when I get a chance.
Silica gel works great if you can get any safely in the affected lens, though they're never sealed units so any moisture in the air inside the lens will mist if the internal headlight air temp differs from the outside air temp. Many headlights already have a breather hole, not sure on the Polo though.