MISF regards my 55/100's as puny and hardly worth the effort. He typically uses 100/135's or something like that. Maybe they're 130/165's? Anyway, always with relays. Even with that wattage his light output doesn't quite match an HID or a LED. They don't live as long, either. These H4's would KILL the stock wiring and switches.
Something that has been either ignored or unacknowledged in this thread is voltage drop. The HL's may operate fine with the stock wiring, but the combination of the original wire gauge used, coupled with the length of the whole circuit, in combination with any corrosion or other resistance producing degradation in the circuit can easily result in an unacceptable voltage drop. Sure, the lights work, but when they are under-voltaged they tend to not last as long as they could nor do they put out the useful light that they could. Run the numbers, I use Ancor Marine's Resources page for sizing the wires in all of my wiring projects. It is a rare circuit that I size the wires for a 10% or less voltage drop. Most circuits I size for a 3% or less voltage drop. It doesn't take much to get a 10% voltage drop. This is the real argument in favor of relays. With relays the whole circuit can be significantly shorter and you can size the wiring to have very minimal voltage drop. This isn't license to wire the HL's with 4 gauge (unless you want to, but why?), but if you want the HL's to perform at their best all of this needs to be considered.
Look at the recent thread about the Koito H4's. That kit is a factory Toyota kit to upgrade the lights on FJ40's, FJ60's etc. It comes with the relay harness. It isn't just the aftermarket that does this. The factory wiring isn't up to that many amps. The Bronco wires are a larger gauge than the Toyota wires, but they're not
that much larger.
I have had a reflector fail when running with both the low and the high elements lit when on high beams. It was a plastic reflector in a non OEM replacement HL assembly. In 30 years of doing this with metal reflectors I've never had a problem. I acknowledge that I'm only one data point, but my data point spans a considerably long time with at least 5 different semi-concurrently owned vehicles. If something was going to happen it would have. I'm never that lucky. BTW, I put relays in the second vehicle to get H4's because the lighting wasn't as good as it should have been. The first vehicle to get them, my avatar, was wired from the start with 10ga. when I built the whole loom.
CA has (had?) some odd laws that few seem to know about. Max illuminating* elements is limited to 6. This could have changed, it's been years since I made that deep dive into the lighting laws. Here's the thing though, if you have a dual headlight vehicle and you have it set-up so that all 4 highs and the lows come on with the highs, then you're already at the 6 elements limit and can't have any other illuminating lights working. No idea if other States have this same law. Or how they've changed the language since not all lights now have elements in them.
Also in CA driving lights can only be lit with high beams. Fog lights can only be lit with low beams. Auxiliary lights can be lit with either.
ALL of my extra highway use lights are "auxiliary".
*Marker lights etc. don't count since they're not intentionally Illuminating.