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Yes, plastic headlight and fog light lenses can usually be restored to look and perform like new assuming the discoloration is on the lens exteriors. Auto repair shops where I live typically charge $50 to $100 to do it. If you want to do it yourself, there are a variety of kits available at auto parts stores and from online sellers. I've used at least three different kit brands and my favorite is the "SYLVANIA Headlight Restoration Kit" - currently $20.23 from Amazon Prime. Advance Auto stores sometimes have this kit but it's very popular and often not in stock here. I am NOT a fan of the kits that require using an electric drill - too easy to damage lenses and surrounding paint work. The Sylvania kit involves hand wet sanding the lenses with included fine grit sand paper and then applying a hard chemical finish coat. If you do try one of these kits, mask all the paint work around the lenses including the bumper below the lenses regardless of what the instructions say. Some of these chemicals are hard to remove if they get on paint work. Hand wet sanding headlight lenses is similar to hand sanding automotive lacquer between coats - you can tell though your fingertips when you've got it right .... when the sand paper slips effortlessly on the surface without dragging. Have a spray bottle of water handy. It can look like headlight lenses are being trashed during the wet sanding process but the chemical finish coat will make them completely clear again. The refinishing process must be done in a wind free / dust free environment - not something that should be done outside since blowing debris can (will!) stick to the chemical finish coat. Once the chemical finish coat is applied it must not be touched and must be allowed to dry for a number of hours. I let it dry for at LEAST 24 hours before driving the vehicle regardless of what the instructions say. And don't touch the surface to see if it is dry!!! Google "headlight lens refinishing" and you will find lots of information and other opinions including using tooth paste the clear the lenses. I've found that only methods that have chemical sealers as the final step provide lasting results.

Glad you managed to find it Joan!

Yep, Toothpaste works as well as anything....

The suspension or ball joints can cause that as well.