Around here, ice inside the windows typically happens when a mild, moist airmass that brings rain is followed by a cold, Arctic air mass. The water vapor (humidity) is trapped in the car and when the temperature drops far enough, it forms ice on the inside of the windows. If your car doors are prone to freezing shut, that’ll happen also.
The cure is to ignore all the advice you hear from self appointed experts about not warming up the car. Start the car, set the heater to defrost, and let the car idle until the windows clear. Once you have the windows clear, open the doors for a minute or so and let the cold and very dry outside air replace the now rehumidified inside air. The air conditioner is supposed to handle the latter job, but I suspect it does a lot better job of dehumidifying in San Francisco or New Orleans in Summer, than in the Northern states in Winter.
On most cars, you can try mechanical scrapping on the front windows instead or as well if you can find a scraper that works on the surface. Don’t use it on the rear window. You’ll probably scrape the wires for your radio antenna and electrical rear window defroster right off.