You need to sand off the top layer, polish, and put a clear coat on them. With the right kit it's pretty easy to do and shouldn't take more than 10-15 minutes per lens. I'd use the one below. Full disclosure, I'm biased after working for 3M for over 20 years but I've done this many times with 100% results.
View attachment 9074105
I may have to try something like this. I’ve done wet sanding to restore a boats gel coat before this seems similar.