Your post, plus that linked article, made for a lot of reading. But it actually does NOT address steerable headlamps. The adaptive beam technology it is discussing has to do with technology aimed at improving pedestrian interaction, not horizontal beam steering. As noted, I've owned a few cars with steerable headlamps over the last 15 years, all bought here in Pennsylvania, and all legal. I believe the first may have been a Lexus SUV bought around 2010. The aforementioned Volvo V50 definitely had them, purchased in 2010.
We also had a Maxima "sport" way back in the 80's that had side-lighting headlamps, which would energize when you enabled a turn signal. Looked goofy, but was actually effective on dark country roads.