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Headlights can still work but out of specification, new ones are usually noticeably brighter. Replace in pairs for best results. Any headlight too, needs a certain amount of current or voltage to hit the sweet spot in operation. With halogen and other types especially. They will not last as long if they see too much voltage, but if there is a weak battery, alternator troubles, or poor electrical connections any bulb will dim badly.
If they are that bad, as you seem to indicate, then something is going on that should be checked out, even if later on you decide to upgrade. Keeping an eye on headlight performance tells a lot about the condition of a truck, in fact, and you want to figure out what's the source of that, could save you some money.
Are the headlight lenses cloudy? Any cloudiness will affect the night time brightness significantly. If they are, you can get refinishing kits to polish the plastic back to where the light will pass more effectively. Less than $20.
If you do replace the bulbs, be sure to wipe them with a clean dry cotton cloth before installation as the oils from fingerprints will burn on the glass, and may have an effect on bulb life.
tom
You need to be careful with trying lights that are not stock or listed as safe "upgrade" for vehicle. And by safely rated I mean from GE or Sylvania etc. not some thing by a seller on Ebay or something. Seller may list an item as fitting vehicle but how safe it is for your light buckets can be another issue. Have replaced the plastic light housings on many cars and trucks for people that tried newer style lights and the heat melted / turned brown the lenses because they are too hot. Put volt meter to battery with engine off and see what it reads - then start car and check again. You should be around 12v not running and go up to 14v (+ or - some) when running. If it only goes up a small amount or reads same as not running (or lower) charging system not good. One of the first things to try is getting a better ground to lights. If you can figure out which wire is ground to a bulb and tap into wire and jump right to battery ground for test you may get a brighter bulb. If you do then you may need to just run new ground to both headlamps. But cleaning the haze from lenses really does make a big difference. I use compound and buffer to shine them up but if you buff too long you can over heat and hurt lens (if plastic). But check your voltage and grounds.