Radon Vent Pipe Condensation - Iowa

How to prevent this from happening again once I rip out the drywall and replace. I don’t want to have to replace drywall and deal with mold every few years. https://imgur.com/a/6I0YVFf

Background: When I purchased my house 5 years ago, we had a radon mitigation installed (common practice in Iowa). I asked to be included in the plan on where they ran the vent pipe because of issues in a prior house, but they ignored that request and had someone come in and install.

The vent pipe is taking cold air from under my foundation through a conditioned space, out into my garage, up through garage ceiling, then runs back into my garage a bit before terminating through the roof.

The garage is HOT and humid (we just went through a VERY hot and humid period in July). This is causing condensation on the pipe due to cold air inside pipe, and hot and humid air outside pipe.