Yes, builders want to sell units so they have incentive to price the HOA fees the lowest they can, which likely does not account for full costs of maintaining/replacing communal items (roof to pipes). That said, I don't know that everyone else figures it out right away, so it's possible you might live in a place for 10 years before the condo association realizes it needs to do some special assessments and catch up their escrow amounts/pay for things. Are you planning to stay 5-10 years? 25+?
On the positive side, a brand new building theoretically shouldn't have deferred maintenance to deal with. Hard to say what an appropriate amount is, but you could look at comparable buildings in size/quality etc. and see what their fees are 10/20/30/40/50 years out to get an idea. If you plan to stay a long time, you might consider getting onto the condo board early on to try to get the fees set to where they really ought to be, if artificially depressed.
My spouse had an issue where there was grandfathering in of condo fee rates. I think it was that when it turned condo, people had the option to buy their unit for a lower figure. If they didn't it was sold for a higher amount. Condo fees were then set based on those prices way back when, so there could be two identical units with one paying double the fee of the other. No incentive for the lower rate places to vote to change their sweet deal, so the expensive fee ones started being sold like hot potatoes as the special assessment fees mounted up.