The inside of the door is NOT sealed against outside water intrusion. The window sweep on the outside is not to prevent water from getting, but larger debris. That's why there's a vapor barrier on the inside of the door, to keep water from getting into the cabin from the door.
This moisture is not an issue and is expected. I would assume that anybody checking inside their doors after a heavy rain will find the inside of the door to be wet. That's why there's drain holes at the bottom of the door skin to allow water to drain.
Ford has an issue with the F150 that the bottom curve of the door is almost horizontal, so debris would get past the outer sweeps, and clog the lower drain holes, allowing water to fill up the door. There are many posts on the F150 forums with doors half full of water.