Yep, the heaters in the C and F series are not very efficient. G Series heaters can cook you out of the cab.
Check the damper air vane on the heater and make sure it is all the way to Inside Air. If you are getting too much condensation, you may want to move it toward Outside Air to pull more "fresh" ie dryer air into the cab.
Also check the cross-over tube. This is the tube that connects the two heater hoses at the top of the engine. There is supposed to be a restrictor in that 3 inch hose. The restrictor is just a slug of metal with a hole drilled through it. If someone removed it, the hot coolant will just leave the pump, get to the top of the engine and flow through the crossover tube and return to the block. I don't know why people remove them, but it happens.
I had thoughts of replacing the crossover tube with a valve so I could adjust the flow to the heater core. If the crossover tube was blocked off, all the coolant flowing through the heater hoses would have to pass through the heater core, instead of some of it bypassing through the crossover tube.
Some folks have added a 12v fan in the cab to keep the air moving.
After dealing with fogged up windows, and having a window partially opened to deal with it, I removed my door and just dress for the weather. The only time I put the door back on is if I'm blowing snow in the wind. Then the wiper pisses me off since I'm tall and it does not reach the top of the window.