There are rules. FMVSS [1] says lower beam headlamps must be mounted between 55.9 cm and 137.2 cm above the ground, and upper beam headlamps must be mounted not less than 22 inches nor more than 54 inches. The height ranges match, but are specified in different units
But that's a big range.
These rules end up being the stick used to regulate vehicle lifts and lowering; you could lift a vehicle higher, or drop it lower but very few people will do the work to relocate the lights.
[1] https://www.ecfr.gov/current/title-49/subtitle-B/chapter-V/p... Table 1-A, seach in page for 'Expand Table' cause I couldn't find a good way to navigate.