Correct me if I'm wrong but the reason fogging occurs is a temperature imbalance between the inside cabin and outside air. If the air in the cabin is warmer (and consequently able to hold more moisture) and the vehicle then driven to a cold environment, such as an underground garage, moisture in the air in the cabin will condense on the inside of the now cooler windows.
Except the inside surfaces of the windows would not be cooled that rapidly by the air inside the underground garage.
It is more likely that the glass was already colder because AC was on for an extended period before entering the garage, or because it was cooled by the rain. Condensation would then occur on the outside surfaces. You can also get the same effect outdoors with AC on and no rain under certain atmospheric conditions when the outside air is close to the dew point.
If AC is off, condensation can also occur on the inside surfaces (even with recirculation off) because the glass has been cooled by the rain and is now colder than the moist inside air. A sudden blast of cold (relatively) outside air from the garage could conceivably make things worse initially by reducing the temperature of the inside air, thereby increasing the relative humidity further and making condensation on the windows more likely.
That's why the AC should always be left on, as stated in the manual, to maintain low relative humidity.