I agree,
It all depends how much and how long.
Burning of "Condensation" or water in the tubes is normal till it heats up. It happens Much More, when its a cold morning.
If its blue, or black, then i would worry, or, if you cant see the cars behind you

Easy test, run your finger along the rear bumper, if its all oily, worry.
If the blue smoke smells like fuel and your eyes burn all the time, worry.
Your not back fireing, its not sputtering, or dieseling, its not diving on you.
WAatch it, but id say its no big deal.