I could probably get a bit more light with new halogens, but according to Internet forums (there are actually Honda CR-V forums) the stock headlights are notoriously bad, and newer halogen bulbs are only a small improvement.
The lenses are not too terribly cloudy, I checked that. Going down the forum rabbit hole tells me that the headlights I have are reflector style, which sees more improvement from LED upgrade. If you have a car with projector style headlights, you should do an HID upgrade.
So I bought some LED upgrades for a couple hundred. Good reviews, supposed to be aim-able with good cutoff to not glare out oncoming drivers, and a substantial increase in visibility. This seems like an area where cheaping out isn’t worthwhile.