there are legal upgrades.
That is debatable, and depends on how you want to define "legal" in this instance. The last time I checked there were several kits that were NHTSA approved, but none that had received F-DOT approval. That would make those kits legal for use on roads that weren't built or maintained using federal funds.
Most state or local governments that I have dealt with determine legality by the white light test, hold a sheet of paper in front of it, if you see any color but white it's a no-go, so even blue or yellow at the edges, which they all have, is out.
Here in PA, we can't make up our minds at all. In the last 4 years I have been told three sets of rules, and I haven't asked yet this year.
The long and short of HID conversion is this:
To be done correctly it is expensive. You need new lenses that are approved for HID use, not halogen use like your stock lenses, integrated ballasts, and it needs to be the ones that have a moving shutter or move the bulb in and out for the high/low function, rather than trying to lower power to the bulb.
I agree with Bobby that compared to old halogen lights HID or LED are far superior, and they should be, the technology is only about 100 years newer. But to be done correctly and safely it is expensive, and in some area it cannot be done legally at all.
I also agree with everyone else here, start by having the existing lights aimed. They are probably not pointed at the right spot and are illuminating the oncoming drivers rather than the road.
Headlights in general, and the low beam in particular, are for you to be seen more than for you to see with. The high beams are more for seeing because you only use them when no other cars are around to see you, and if they aren't enough you should look into some auxiliary lights, and probably go get your eyes checked too, as you might be starting to loose your night vision.
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