I've used Turtle Wax and Fast Brite(as seen on tv)...both achieved an average result but the hazing came back a week later.
I'm not trying to sound sarcastic here but if you're headlights are in terrible shape then no amount of kits are going to work

you may end up having to purchase new OEM lens housings.
You can find QUALITY, genuine Toyota OEM parts here...
http://www.trademotion.com/partlocat...?siteid=215498
They have new lenses(plus tons of other parts) for sale at a discount versus the dealer's MSRP.
Hope this helps!