This question is similar:
What does a water like drop coming out of the exhaust of the car signify?
But it sounds like the water should be in small amounts, and only when the car has not been driving long.
Even on a warm day, my car will drip a large amount of water from the exhaust pipes, even after driving for 15, 30 minutes or more. (I just got it recently so I haven't driven it longer than that). By a large amount I mean that all the way up my driveway there are large drops every few inches.
Still nothing to worry about?
This is in a 2002 Saab 9-5 Turbo.