I used a 3M kit and some extra 2500 and 5000 sandpaper and the clear coat product in the kit and got them looking what I thought was pretty good but a year later they looked quite foggy again so this year I broke down and bought two new OEM ones for just north of $200 each. Pricey, yes, but they make my 4Runner look sooo much better and I drive 40 country highway miles at 4:30AM every morning I can see the deer and coons and possums and whatever other critters that routinely are trying to ruin my day sooooo much better than I ever could before. I wish I'd done it much sooner.
I got them at Olathe Toyota. 'Toyota Parts Center' is their online store. I picked them up in person as I drive near there on my way to KC once or twice a month anyway. In Jan this year they were $215 each. I just looked at their website and now they're $270. Also at that time they were a couple dollars less at EB Toyota online but from them I would have had to pay for shipping. Looks like there they are now $244. ¯\_(ツ)_/¯