Every older car I've had has had this scenario. I think that the interior will always be just that much hotter than the exterior, especially if you drove it in the last 12 hours. If you're getting rid of ice on the outside use a scraper with warm, not boiling water; I saw a guy crack his windscreen last winter. Boy did he curse!

I always have a cloth handy to wipe down every window before I start off. I had a look at some websites and it seems that lemon juice, vinegar, potatoes, cigarettes and ...hhrrrrmmmm ... something else, will all help with misting up windows. Choose as you see fit.