Heated Garage
I'm not an expert, but here's my $. 02:
If the garage is heated, the truck is going to be warmer than the outside air when it leaves the garage. = No Condensation.
If the garage is NOT heated, and if it was cold yesterday, and the truck stayed inside, where it stayed cool, then the weather changes: the outside temperature warms, and the humidity goes way up, when you pull the truck outside, [if the truck was cool enough], then there might be some condensation on the truck, but you are going to drive it then, which will dry it off. [that's a mouthfull!!]
Now for the reverse: If you bring a cold truck home and put it in a warm garage, there will be some condensation, but if it is in overnight, I would think that the truck would dry out, and be better off than staying damp all night if left outside. Don't forget that the engine is a large source of heat, and will 'give' the heat to the garage and rest of the colder truck as it cools to the temperture of the garage.
You don't have a sauna or hottub in your garage do you?? If not, then there should be less humidity inside when it is heated than outside.
I guess it depends on how long you would be keeping the truck inside, if it was long enough to warm it up and dry it out, then inside gets my vote.
I keep all my 'collector' cars inside where the floor is heated to 55* F. and the air temperature is whatever I get: it varies with outside temperature and wind, but it is never below 35* F in the shop/toybox.
My truck is such a huge chunk of metal, unless I'm going to to leave it inside for 24 hours or more, or going to work on it, I don't bring it inside the heated toybox, I usually leave it in the unheated garage, but plugged in.
Enjoy that Cummins Power!!

Greg L