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Yes, the bathroom is likely to be warmer than outside therefore it will have more moisture in the air than outside. (The warmer the air then the more moisture it holds at 100% humidity.)
If you don't open the windows then as the room cools down the excess moisture will condense on surfaces.
If you open the window the air will mix as the room cools and so there will be less condensation inside.
If there's 100% humidity outside, is there any point opening the window in the bathroom after I take a shower to try and stop the bathroom from being too damp?