Technically speaking HIDs that have been added to nonHID housing are also for offroad use only as they are illegal federally in the US.
I will expand a bit, because I will shortly become part of the illegal users of an HID kit. There should have been new laws for automotive lights years and years ago. They were working on them, back when HIDs started showing up, but everything was put on hold for some obscure reasons. So we're in a legal vacuum right now, where some states have put forward their own laws, but very few. Most with *illegal lights* today will not be bothered by law inforcement if they are used responsibly.
HID kits and fake HID bulbs have been blinding oncoming drivers for years, mostly because they were installed in a reflector housing designed for halogen bulbs, which are known to bleed light upwards quite a bit. In the case of the halogen Cherokees specifically, they have projectors, not reflectors. I know, they aren't HID projectors, but they are close in design (almost identical), and from what has been reported by many on the forum who have HID kits, they (the projectors) don't seem to be bleeding up sufficiently to cause glare or strong discomfort to oncoming drivers. Some have reported getting flashed at first, but realized the headlight aim was too high (my halogens were aimed too high from the factory). Properly aimed, it seems as though the KL halogen projectors with xenon bulbs (HID) do a decent job without significant aggression to others.
Now about light bars... They are off-road lights by design, and most (totally or partially) have optics made for long distance lighting. You do not want oncoming drivers to experience these lights, ever. They are the modern equivalent of 100W+ halogen driving lights. If you ever use them on the road, be sure to stay sharp and shut them off before anyone else sees them. But best to use them off-road only... because they can cause harm if you *accidentally* shine them in somebody's face.
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