I have a 2004 RX330. It is at the dealership now for numerouse problems. One of witch is the HID's condensation problem,. When I last had it in I advised that the visibility was poor and they adjusted the height up slightly, this only made a small improvement.
They are replacing the HID's for me as a result. When I mentioned to the tech to ensure he aimed them higher again, he informed me that they have made significant IMPROVEMENTS to the HID" and they are aimed /positioned to offer better visibility. I will keep you posted.