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If they are foggy inside then you might need new ones, if foggy outside get ^ with the drill attachment, if they have the spider web look going on, there is no hope!
if its on the inside you can do the same thing, its just a long process removing them, seperating the lens, cleaning, re-sealing, and re-installing. if they are that bad new ones might be worth it
Advance Auto sells a kit in a silver packet for $20, comes with the two grades of sandpaper, polish and clear. Did it last week on the B3000, took all of 30 minutes.