It only lights up like 20feet in front of me. It auto adjusts when i start the car but it seems to adjust down or not high enough.

You can adjust them using a phillips head screwdriver. Under the hood, near the rear of the headlamp assemblies, there are adjustment screws with phillips head screwdriver slots. They may be hard to see with the radiator support above the headlamps, but they will be the only phillips adjustment screw heads on the whole headlamp assembly. They will be facing directly vertical facing up. Hope you get your issue solved!