You are correct.
IMHO, the majority of folks with headlight issues (that aren't cloudy/hazy plastic lenses) would benefit greatly from a set of replacement halogen bulbs.
Not only are they cheaper than LED, they maintain the OEM beam pattern, while being easy to oncoming drivers.
I had this exact situation on our 2010 Nissan Cube.
Headlights were a little cloudy but the light output was terrible. After not finding any good upgrade options (HID, LED, etc) that were less than $200, and reading about old halogen bulbs dimming, I decided just to try new bulbs and clean up the clear plastic. I wanted a slight "upgrade" from stock halogen but not a bulb that burns out in 1-2 years so I ordered Philips 9003 VP (Vision Plus). When I pulled out the old bulbs I saw they were 9003 LL which are actually DIMMER than "stock" halogen. The difference was remarkable and very acceptable. Not blinding bright but we can now drive safely with great night vision. All in it was less than $50.
Just reading through more comments and I should check the voltage drop with the lights on daytime / low / high and see how much loss there is. It might be worth some wiring upgrade / relay.
The Philips halogen range is roughly:
9003 LL (Long Life, ??% dimmer, ??? hrs?)
9003
9003PR (Vision, 30% brighter, 300+ hrs)
9003VP (Vision Plus, 60% brighter, 300+ hrs)
9003XV (Xtreme Vision, 100% brighter, 200+ hrs)
9003NG (Night Guide, 130% brighter, 200+ hrs)
TLDR, terrible headlights were a combination of lens haze and old LL (Long Life) halogen bulbs. New Philips VP (Vision Plus) bulbs and clear lenses makes a HUGE difference. LED, HID, hundreds of dollars not required.