So I had some extra time at work today and after washing & waxing the Tacoma I was staring at my headlamps and was disappointed by the fogginess. So I talked to our paint/body guy and he showed my how to do it. Just got some very fine sand paper and wet sanded the lenses by hand. Then used a power buffer and some buffing compound from Meguiars. Very happy with the results. Took about 10 mins. Been needing to do this for over a year, should have done it sooner.
My advice on this would be to do the headlamps before the wash. I had to re-wash the front end after I was done with them.