Some things to try. When you bring it into your house use a hairdryer gently on the lens.
I would also try to protect the camera more (perhaps devise a hood for it). Also some RainX or anti fogging wax (like that used on snow sports goggles) can work also.
It is a common issue with this type of camera from multiple brands. I have seen this from the likes of a Arlo, Ring & Blink - all of which are even more costly than Yi/Kami.
The tips I’ve mentioned above I have had to use on a number of Ring cameras to protect the lens from the very issue. RainX for me works.