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I don't know if there's any product on the market that will completely protect headlight lenses with no restoring required. The lenses are plastic which get scratched up and are subject to UV ray deterioration. I like to use Klasse AIO on my headlight lenses. It helps but won't keep them looking new forever.
I would put polyurethane film over them.
When I wax my vehicle, I wax my headlights and tail lights as well. It appears that sealants usually have no trouble bonding to plastic and do not affect the clarity. So far the only waxes I've used on plastic that seem to work are Meguiar's NXT Tech Wax 2.0 Liquid, Poorboy's Natty's Red Paste Wax, and Optimum Car Wax.
Quick detailers that offer some UV and water-beading protection also work very well on plastic such as Meguiar's Ultimate Quik Detailer.