Too much moisture inside the car.
Is it a 20yo car?
It can happen from the snow on your boots and such, if it’s sunny out during the day, your car turns into a hot house. The moisture condenses on cold surfaces like windows, and freazes during the night.
Or, a leak in your heater core. But from your description, I sorta doubt it. You would be putting a mixture of anti-freeze and water on your windshield when you use defrost, you would smell the anti-freeze. It’s sorta a sickly sweet smell.
It may well be a clogged drain line in your, ummm, heater box. On newer cars, with defrost on, the heat AND air-conditioner runs to remove moisture from the air. The water drips off the evaporator (probably not using the right terms here) and drains out through a hose. If the hose gets clogged, the water remains in the heater box, and the warm air sucks up the water and puts very moist air in the car, that can freeze later.
If it’s just from snow on your boots, and you park in the sun during the day, crack your windows to get some of the moisture out of the car.
If it’s the heater core, that’s gonna be a bit expensive.
If it’s the drain line, it should be a cheap fix.
-----Also, some cars have the option of using outside or inside air for the heating/cooling system (recirculate or not). You want to use outside air as much as possible, this will put fresh, less humid air in your car.
But… you also have to consider that there may be snow in the incoming vents(outside air). In that case a mixture of snow and air will hit the heater core, causing some very, very moist air to enter your car.
I’m sure another doper will come along soon with a better description.