Upgrade to HID or what so I can actually see?

No, HID kits are expensive and they're never upgrades; only downgrades.

The headlights on this thing are terrible, and now they are getting even worse from yellowing.

Ideally, you'd get new OEM assemblies, but since we're on a budget, I'd polish them and use these bulbs. Total cost < $50, and a true upgrade.

In short, as a headlamp engineer, my top recommendations are Philips XtremeVision halogen bulbs. No LED or HID will help except create the dangerous illusion of better lighting.

Your car takes H4 and these are the best.