You have to cut that time a lot. 500ms and 100ms is way too slow and probably even slower than auto shutter would put out. Never put gain at 100. It will be blur and casper the ghost with that shutter speed. We need these to perform with details at night, not be a ghost city.
That is a 1/2s shutter speed and needs to be no slower than 1/30s.
Here is a repeat of what I said previously in case you missed it as it changed pages:
Go into shutter settings and change to manual and start with custom shutter as ms and change to 0-8.3ms and gain 0-50 for starters. Auto could have a shutter speed of 100ms or more and gain up at 100 which will contribute to significant ghosting and that blinding white you are getting from the laser.
Now what you will notice that happens immediately is your image gets A LOT darker. That faster the shutter, the more light that is needed. But it is a balance. The nice bright night image results in Casper during motion LOL. What do we want, a nice static image or a clean image when there is motion introduced to the scene?
So if it is too dark, then start adding ms to the time. Go to 10ms, 12ms, etc. until you find what you feel is acceptable as an image. Then have someone walk around and see if you can get a clean shot. Try not to go above 30ms as that tends to be the point where blur starts to occur. Try not to go more than 0-30ms
You can also adjust brightness and contrast and iris to improve the brightness of the image.
You can also add some gain to brighten the image - but the higher the gain, the more ghosting you get. Some cameras can go to 70 or so before it is an issue and some can't go over 50.
But adjusting those two settings will have the biggest impact. The next one is noise reduction. Want to keep that as low as possible. Depending on the amount of light you have, you might be able to get down to 40 or so at night (again camera dependent), but take it as low as you can before it gets too noisy. Again this one is a balance as well. Too smooth and no noise can result in soft images.