My old VW Vento 1.9 TDI explicitly stated NOT to run the engine at idle to warm the car because the diesel engine will not reach operating temperature unless driven, thereby accelerating engine wear. I can confirm that it would take eight miles before it had any functional heating!
As for frozen condensation inside the car - clean the windows. The water droplets condense on minute dust particles. Clean windows minimise this bit can't do anything for the outside.

