As others have said, insulate and seal the garage as best you can.
Then, I'd probably just put a vent + fan (like a bathroom extractor fan) somewhere unobtrusive to blow air from the house into the garage. Positive air pressure will then push any stale air out through whatever gaps you've missed when sealing. That way you're warming and dehumidifying (assuming your house isn't itself humid) the garage a little, and simultaneously ventilating both the house and garage
The one main flaw here is if your house is excessively humid... but you should be resolving that problem anyway
The second, smaller, possible flaw is that you're sapping heat from your house - but since you're wanting to heat/dehumidify the garage anyway, the tiny extra heating cost (using a cheap gas central heating system) is still probably cheaper than running an dehumidifier.
Condensation is just an imbalance between moisture and ventilation. It’s normal for a bit of moisture to get in as long as it can get out again.
I'd disagree with that - condensation is more about insulation/temperature differential and rate of cooling than anything.
If your garage warms up in the day, then rapidly cools down, you're going to get condensation. That happens even in a perfectly ventilated area - it even happens outside, that's why your car and lawn get moisture/dew/ice on them at night
Ventilation can help (expell that warm air before it has a chance to condense on cold surfaces), but it isn't a magic bullet if your room is insufficiently insulated.