How old are your bulbs? Just wondering, because bulbs do tend to dim gradually over time... If I were you, I'd upgrade to some brighter bulbs, and possibly point them up a hair if they really are lower than factory as you say... To me, it actually sounds like they might be aimed too high already... But thats just me... This might explain why you can see OK out in front of you on a dark highway, but not very well up close in a well lit city street...
Don't take that as pointing fingers or anything, I'm just pointing it out as a possibility!