When I get out of my 4Runner, the only door that unlocks in the driver's side.
The other doors 3 stay locked.

Is there a way to set my locks so that when I stop my car and put it in park that all 4 doors will unlock?

So when you take the key out of the ignition, the driver side door unlocks automatically? Mine doesn't do this and my locks were just fine. I wonder if this was a feature specific to 2002.

When I put it in "Park".

I have a 2002 and mine doesn't do that........... Interesting.

Do you have a remote starter or alarm?
If so, those items can control door lock functions.

All 5 of my doors lock when I put the key in the start position, and unlock when I turn the key off. I do have the factory remote key system with an after market key fob remote.

97 SR5 4x4 3.4 automatic

This has worked for my 2000 SR5. Here's another thread: Turn off door lock feature

Automatic Door Locking / Unlocking Function:

The factory setting for the automatic door locking and unlocking function is on.

1: Sit in the drivers seat with the drivers door open.

2: Insert the key into the ignition switch and turn it to on (not acc) 5 times (on-lock, on-lock, on-lock, on-lock, on) within a 10 second period. The status monitors LED turns on, and the piezo chirper sounds once.
***You must perform the next steps within 30 seconds***
Select the operating mode:

Automatic door locking and unlocking on: Close the drivers door. Turn the ignition switch to the lock position. The piezo chirper sounds once, and the exterior lights flash once.

Automatic door locking and unlocking off: Close the drivers door once, then open and close it one more time. Turn the ignition switch to the lock position. The piezo chirper sounds twice, and the exterior lights flash twice.

If you do not turn the ignition key to lock, or exceed 30 seconds during the programming steps, the status monitor's LED will turn off and the previous operation mode will remain.

I’ve tried this about a dozen times on my 2001 sr5 and it never chirps to enter the programming mode. Could 2001 be different?

From inside, and while the lock button is pressed down or in the "lock" position, can the driver's and front passenger doors be opened while pulling on their respective lever?

NO, I tried it and realized you need to actually unlock the door (both driver and passenger) before you can open it from the inside.

A bit scary, it feels like your stuck inside.

It could also be that you're piezo chirper is set to "off" or not working at all.

It chirps when I lock and unlock with the fob.

The red security light comes on after 5 key turns so I thought the chirp might just not be working but the lights don't flash and it won't allow me to change the programming by closing and opening the door twice either.

It's almost like it's only half entering the programming mode ...

Have you tried a full reset?

What I really want is for all of my doors to unlock on the first pretty of the unlock button on the remote. I have all of my other cars set up this way and it always annoys me when I go to the back door or hatch and it's still locked after I hit unlock. Anyone know of a way to get one click unlocking on these cars?

The only thing that comes to mind is whether or not the system knows when the door is opened. The switch that actuates the dome light also signals the system for other things, such as turning off headlights and as a trigger for security programming. Be sure that this switch is working 100% before suspecting anything else.

Just yesterday I discharged my battery when my headlights didn't turn off because of this switch.