I thought the OEM halogens are pretty good. From what I can tell at night, the headlights light up road signs quite far away while other cars that are ahead don't light them up at all (I especially like the flashers blinking on the turn signs). The cut off from your car might be too low. I think my car's cut off line is like that when 4 or 5 feet away from the wall -- I have to check.

My cutoff may appear low, but I don't think the floor is 100% level. What I did was I parked my wife's benz 10 ft away from the garage door and marked her cutoff on the door. Then I parked my Lexus the same distance away and adjusted to the same mark. The Lexus aim was a few inches higher. The benz bulb height is the same as the Lexus. Our driveway has a bit of an incline so I cannot measure the proper height that would have been used on a level ground.

IS250/IS350 headlight is known for the bad output... If you want real good result, I recommend the retrofit.