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If it’s hazy from sun damage, I’ve done wet sanding followed by buffing with with compounds and polishes. You could buy a headlight cleaning kit at Walmart or any automotive store. They work pretty well and should do the job.
do not wet sand. do not use toothpaste.
You will make it worse.
use the least abrasive polish, and move up from there.
I find that Meguiars ultimate polish and elbow grease (or dual action polisher) is enough to remove the yellowing.
the yellow comes right off on the microfiber towel.