Its very normal, normal enough that a lot of other cars do the same thing. Next time you're driving in traffic observe what's happening with other cars.
Adding to that you will often also hear a ticking sound especially after driving for a long time or just after driving hard.Welcome to the forum!
Yes, it is normal. Because exhaust systems get quite hot, they will, when they are cooling down cause some moisture to collect in your muffler and your pipes and then it will drip out.