I bought the 3M Ultra Headlight Restoration Kit from Amazon and used it on my 2012 Prius. It took a bit longer than the 40 minutes on the box (though I did wash the whole car at the same time), but made a huge difference in the clarity of the light covers and the brightness of the headlights.
However, I did find that because the light covers are such an odd curved shape, I wasn’t good at coloring inside the lines and damaged the paint in multiple spots. The kit provides a roll of narrow green painter’s tape/masking tape which I used. I would recommend adding to that a wide roll of the blue stuff to give yourself a wide margin for slips of the drill with the sanding pads.