They're incredibly dim. Hardly any light coming out of them.
Went to a place that does this type stuff and they said if I buy the bulbs they'd put them in. They said to get HID type as they are much brighter. Went to O'Reilly's and they wanted $110 per bulb. Wow, that's a lot. Am thinking about calling the dealer and just let them handle it.
I'm not a DIY type of person and I have no experience with this type of stuff and don't want to f it up.
Should I just call it a day and go to the dealer?

 

You need new headlights. You can buy good headlights from TYC and install LED low beam bulbs in them for $600-700 + installation. The dealer will sell you Honda OEM headlights for $1500-2000 + installation.

 

I have a '13 RDX, too, that had the same very frustrating and dangerous problem, which I researched in detail and fully resolved for my car.

This is a well-known problem with the headlight fixture reflective projectors, not the bulbs. Acura refused to do anything about it. Changing bulbs doesn't fix it. Believe me, I tried several bulbs.

There are already at least two threads here on this topic. I posted my solution, including the part numbers, Post #12 on the following linked thread, with CAPA-Certified TYC brand headlight fixtures from rockauto.com, installed by my local independent shop, which in total cost me about half of what the Acura dealer quoted me ($1k vs $2k) and resulted in OEM-quality headlighting: https://acurazine.com/forums/2g-rdx-...5-rdx-1002949/