and perhaps even a low voltage at the bulb base.
That would be a step back for Hyundai; their wiring is actually pretty decent. Perhaps it was a "long life" bulb selection whose lower filament luminance may have made it look poor, unless the light color was really that indicative of low voltage.
I had occasion to drive an '05 Elantra for a few days, and couldn't really fault the headlamps except for maybe having a too-sharp vertical cutoff
1
The front turn signals, on the other hand, were lacking compared to my Corolla's turn signals. I'm sure they were all good enough, but maybe it was just that it was so different from my own vehicle.
The high beams couldn't hold a [beam]candle[power] to my HIR1s.
To others point, only legal, safe, and most importantly effective way is with a proper bulb upgrade (halogen) and perhaps look at the voltage at the headlights.
And we won't know which bulb until we know the year and style.
Keep in mind, too, Ann1991ss, that part of your lighting problem may be badly degraded headlamp lenses. If that is the case, new factory headlamps (never aftermarket!) is the only fix.
1Yes, the cutoff line is horizontal, but because the gradient is in the vertical direction (dark above, bright below), in the very formal and technical discussions it's a vertical cutoff. Just like a lawnmower blade is horizontal, but it cuts off the blade of grass such that it doesn't exceed a maximum vertical height.