To replace the Prius headlite on the passanger side is fairly simple. The driver's side is another issue. The wheelwell trim and the bumper skin (plastic covering) has to be removed. Most of the work changing the actual bulb has to be done by feel. The part cost is less than $10. The failure mode usually has the bulb going out after a few minutes...when it cools off it comes back on...then off again.
I'd recommend a mechanic you trust rather than the dealership doing the job. BTW...if one is failing, you might as well have the other replaced at the same time.
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