I finally decided to do my now 104,000 mile 2002 headlights with the 3M kit.

They have never been polished nor replaced. (Well, one was replaced very early on under warranty.) I opted for the 3M kit since I was ordering some stuff from Amazon anyway. The 3M kit (without tape) was $15 from Amazon.
I think the results are good. There is a dramatic difference between the before and after. I am happy with the results. I got better photos of the passenger side so here are some from that light. (They are iPhone 4 photos. Sorry but that's what was handy.)
Before:
After:
To be honest, the after photos look a bit better than the reality. They are definitely better and much more clear but they are not as clear as they were when new. I sort of expected better results but I might have been a bit unrealistic. I think the results are great for lenses that are over 9 years old, with 104,000 miles behind them, and live in constant sunlight and heat.
I was concerned with burning the plastic with too much pressure or speed from sanding but I think that I could have used a little more pressure and a little faster rotation. The 3M polishing compound is decent but I wound up using some Menzerna polish and that worked better.