Hi,
we even get condensation on the bootlining grey carpet stuff on the ceiling of the Innovan, as we did with our older camper as well.
If some thing cool is in warm moist air, condensation occurs, even coming inside from the cold, my glasses fog up, so it can be tricky to solve.
Double roof linings e.g. a fly can keep the inner roof a little warmer and reduce the 'inside rain' a bit.
Ventilation helps, but then again you can get massive condensation on the underside of an open awning, and it doesn't get much more ventilated than that.
You could try a blanket on the roof over where you sleep, and a water proof canvas/plastic tarp over that maybe.
Warm humans give off quite a bit of moisture over night and it will even condense under a foam mattress, so they should be turned over in the morning to allow the damp to dry during the day.
Not sure you can ever stop it completely with out going to extremes with vapour barriers and insulation.
cheers