I agree heavily with Wrongside. All of those statements are true in their own regard.
Single wall tents, and even tarps rigged to the ground and largely closed off typically will experience condensation much more than a double wall tent.
It is based on the dew point(temperature) and the humidity at the time, so this varies greatly based on location and time of year.
The reason a single wall tent and or tarps see more is due to restricted ventilation. A double wall tent will have JUST as much condensation, however, it will be between the inner and outer layers and thusly you wont ever get wet from it most of the time. The condensation in a double wall tent will also typically dry much faster just due to how air flows through the walls.
There isnt really a good way to minimize condensation without creating more airflow/ventillation. One method I found was to orient the doors /entryway or vents depnding on the model on a singlewall tent towards the wind so that you have a little more convection and airflow through the tent.
In winter, using a frost bib will help to capture the moisture in your breath before it condenses on the shelter fabric.
Experiencing more condensation is one of the trade offs with using a singlewall tent or tarp as compared to a doublewall tent. Tarps can usually get around the condensation problem easily enough, it usually only occurs when they are pitched flush to the ground and really closed up.
IMO condensation isnt a big deal. I just keep a small pack towel out, and when i wake up the first thing i do is give the fabric a quick whipe down, takes all of about 20 seconds. If you toss and turn and move around alot in your sleep i can see how it could be a major pita when it randomly rains on you in the middle of the night when you hit the wall.