You can easily adjust the headlights down using the garage door or a flat wall. I've done this on may lifted vehicles using a tape measure and marking the wall with blue masking tape.
Its more then just up and down though. Headlights need to be aimed left/right as well. Since they are likely already "skewed" to the right, simply adjusting only up/down is also going to move the pattern diagonally, or in some other "funky" way. Since we drive on the right side of the road, there is supposed to be a bias to the right, with your headlights showing the right shoulder, YOUR lane, and maybe just a little of the other side of the road. By everybody "pointing" them to the right, no one will be shining their lights into to eyes of oncoming drivers. Granted, its a subtle amount, but its there.
Now for the other side of the debate. I'm always getting blinded by cars and smaller trucks because their headlights are aimed higher for longer distance (most stock vehicles have a downward front rake to them).
I don't really think that is the "other side". Its the same side. My complaint wasn't directed ONLY at lifted vehicles, although their raised headlight height does make it worse, as it now tends to be directly in line with other drivers' line of sight. I'm just as annoyed with all the "ricer" HID/Halo/Projector "conversion" fools as well; along with people who just install a stock replacement headlight assembly off ebay, to fix the one the deer, or a rock, took out, and never bother to have it aligned. Those are usually the ones with one light appearing "normal"' and one super-bright, shining right in your face.
If you want to take it to a garage that does safety inspections than they will have a grid and headlight sheet and or markings on the wall to aim headlights, shouldn't cost more than $10 tops.
To do it precisely, so it is not a nuisance at varying distances, requires a fairly expensive piece of equipment. "Safety" inspections are often a "joke" Many un-safe things are "acceptable" to a state inspection. Yet, stupid things will fail. And nothing costs $10 at a shop anymore. I think $40-$50 is probably a closer estimate.