Intermitent Headlights

So the headlights have been acting strange in my Prius for a while. My 2008 has the crappy old fashion bulbs rather than the HIDs. Fairly often one or the other will be out but be on again later. Tonight we thought the driver's side was off again but discovered that it wasn't out - it was just dim.

I do have replacement bulbs (slightly brighter than stock but probably not enough to get me pulled over) but I don't want to go through the effort of changing them if I'm going to have the same issue. I did try to put them in a while back watching Youtube videos but cant get my hands in there.

Anyone have any ideas?

Thanks,

Jonathan