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Yes, just go by a 3M Headlight restorer kit. It will come with rounded sand paper discs in various gris (up to 3000 I believe). A velcro mount for your drill that will also hold the discs and polishing pad. I believe it comes with some polish also. Can be found for around $15 or under.
One thing to remember, if you don't "seal" it in anyway, the fogginess/haze will come back as you don't have UV inhibitors anymore. Use a good sealant. I just did my lens and used CarPro CQuartz to coat my entire car, glass, and headlights. We'll see how long it holds up but should be better than off the shelf waxes or sealants. There is also Optimum Opti-Glass ($79) that is a more permanent coating. Reviews are pretty positive.
Toyota and Lexus Join Mille Miglia For The First Time
Slideshow: A five-car lineup spanning more than five decades of Toyota performance and engineering will tackle one of Italy's most celebrated automotive routes.