If you can get to a shop with a gas analyzer then have them check with a cold engine start up and as it warms up. By check I mean have the rad cap off and use the sniffer at the rad neck and check for hydro-carbons. If they are there then that is a sure sign of head/gasket problems. The pic looks excessive. I have seen just a small amount of the white milky foam just under the fill cap but what I see in that pic definitely looks like more than just the short trip/cold start condensation problem. I am leaning toward the heads problem but the gas analyzer should help narrow it down.
I wonder how bad the dealer would beat me up to test that. I have an appointment to have my drive seat module reprogrammed. I may check on them testing that.