That picture looks pretty good given the age of these.. Smaller brightness variations between segments and digits is usually due to the phosphor aging. The phosphor will fade with the digits and annunciators that are lit most of the time.
The power-on display test, it's crappy because the tube isn't fully warmed up yet. I'm not sure if there is a command to run it.
edit: I have successfully rejuvenated 34401a VFD displays. If you have unevenly lit segments, sort of dim around the segment's edges it can be due to low emissions- as well as an aged NEC MCU having weak outputs, phosphor aging, or VFD power supply issues.
I pull the tube out, CAREFULLY apply DC across the filaments starting around 6VDC until it warms up in a few seconds. Cold resistance is 10R and hot 39R around 150mA. Then I slowly ramp up to about 12VDC hold for 30 seconds then disconnect power. DON'T JOSTLE OR BUMP THE TUBE when its heater is glowing orange. Don't just connect 12V to it, it will blow due to cold inrush current. Ensure your power supply doesn't spike up when you switch it off, instead I just pulled out the banana plug to turn off and wait for VFD to cool down.
The theory is the filament has oxide buildups which cause low emission and the high temperature (overvoltage) run burns these off.
I also tried with another power supply applying +30VDC/1k ohm to each digit grids alone, did get weird effects for a few seconds that went away, so that did something to the stainless steel grid. It might also get some strange oxides on it.