The B5.5 headlights just don't compare to the late models. I had the same problem along with fogged lenses from the sun. I polished them several times (it only lasts about a year or two) but they were always yellow and dim.
I finally replaced the whole assemblies with Hellas (Hella made the OE ones for VW). In fact the Hellas I bought were exactly the same except the VW Audi markings were ground off. That was a significant improvement after putting the 70w Hella bulbs in, but they are not even in the same ballpark as my '15 and '16 Audis. I'm looking at upgrade options but have not found anything acceptable.
I broke the old ones open and the insulation on the wires inside was cooked from the DRL operating them all the time. The backside of the projector lens and the reflector had a smokey residue on them (actually it was all over the inside.) So, I promptly pulled the DRL relay.
The B5.5 DRLs (at least the halogen ones) are not controlled actively and thus not adjustable with VCDS. It's a fixed resistance wire in the harness, and controlled by the aforementioned relay.