There are plenty of kits you can buy to put on the end of a dremel or drill to restore. Here's a link to one but there are plenty of others that work
.https://www.halfords.com/motoring/car-cleaning/clay-bars-detailing-products/meguiars-one-step-headlight-restoration-kit?cm_mmc=Google+PLA-_-Car+Cleaning-_-Clay+Bars+&+Detailing+Products-_-342649&istCompanyId=b8708c57-7a02-4cf6-b2c0-dc36b54a327e&istItemId=xtpalarap&istBid=tztx&_$ja=tsid:94971|cid:865695745|agid:43902124735|tid:pla-327140593187|crid:202397318304|nw:g|rnd:13485223150071036462|dvc:c|adp:1o2|mt:|loc:9045957&gclid=EAIaIQobChMIqPKzgYn33QIVBp3tCh2uewmcEAQYAiABEgKrg_D_BwE