106k miles here. I think it's due to the weather extremes but the top portion of both headlamps needs to be resurfaced. $50 at the local car wash detail who I've seen do a great job....but I did think this was early in the shelf life.
I tackled this extensively when I picked up my 04 as my headlights were in bad shape. I wet sanded one with high grit and finished it with headlight restore and a polishing cloth, and hit the other with a wet paper towel and some Colgate.
One took me a couple hours and cost ~$40 (Canadian) and the other took 30 mins and cost a few pennies.
Before
After (toothpaste only)
Upon really close inspection the one I wet sanded does look slightly better but honestly such a marginal difference for the time and effort.
Make sure to use plain cheap white toothpaste, none of the fancy stuff.
If you have the time, patience, energy, and tools to do it yourself, that is what I'd do. Otherwise, fork over the money and have someone else do it. The long term problem is that the hazing tends to return.
I have not done this, but I've read the most important part of lens restoration is protecting the lens from dulling again by using something like a Laminx film.