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I used a toothbrush and very slightly diluted toothpaste on the recommendation of my shop. Came out nicely, I kid you not, but don't ask me to explain why!
+1 Not to be a glutton for adoration, I didn't invent this but learned from other Marque forums (MBZs are notorious headlight clouders) Arm and Hammer peroxide toothpaste works wonders. On both headlamp covers and teeth as well.
A few years back, a mechanic attempted to clean the silvered surface on my headlights and ended up wearing through it. I had to buy new headlights at the adjustable silvered part was not available after market. An expensive lesson.
I cleaned my H5's for my track car which were quite bad. I used a cleaning agent but what helped best was using a flexible shaft claw grabbing tool. I attached a blue cotton paper workshop towel to the end and using the opening for the bulb carefully worked it inside allowing it to absorb the cleaning fluid and then just twisted it around allowing me to access just about every inch of the inside. When done they looked great. Takes patience and time. You need to be careful not to bend the lamp cover though.
I am with others though regarding buying H4's or H1's instead of replacing the H5's but I have several sets of each for sale in like new condition. Pricey H1's are rare and $1900 and the H4's are AL black trim not Bosch asking $799.
I just cleaned mine this morning after reading this post. I used 70% Isopropyl and just poured it in and swirled it around. I used a Griots crevice tool with microfiber attachment to wipe off the majority of the lens and finished with a blower dryer on high heat for a few minutes until the inside was dry. I also cleaned the headlight buckets while I had everything out.
It’s really fairly easy to do and makes a big difference. Here’s a before and after.