I had the foggy hazy headlights. They felt rough and crackled. I found the 3M Headlight restoration kit and the look like new. This was for the outside though, not inside.
Not bad for $20 kit and 2 hours of time. Pickup up kit at Autozone but saw it at Walmart too.
Here's a link to the kit and video by 3M:
Restoring a Headlight 3M US DIY drill drills clean cleans clear clears restore restores cloud cloudy haze hazy scratch scratches scratchs yellow yellows headlights fog light lights tail taillight taillights signal plastic plastics car cars auto autos
Here's some before and after photos. The overcast day put a grainy look to the after shots but they're shiny and way better than before!