2001 Toyota Tacoma Condensation?

Hi BC in CA. Welcome to the forum. Good news. It's doing what it's supposed to do. The AC runs in defrost mode to cool the air first to remove the humidity before warming it up to send it to the windshield. If they didn't do that, the moisture would condense on the cold windshield and cause fogging.
Caradiodoc

Thank you for the donation,
This is the A/C drain tube, if you had the A/C on you will get moisture dripping if the A/C was not on I would get the cooling system pressure tested just to check that the heater core is ok, start here.
Mark (mhpautos)

that's normal.
When you have the Defroster on, the AC system is also working to remove moisture from the air. To speed up defogging the windshield.

Condensation builds up on the evaporator core and drips out that little tube.
That's why the tube is there.
Buddycraig