The trick is that you have to "toggle" the current setting (to "off") before programming the new setting. Without doing this the new setting won't work, and the computer will just keep the old setting. I think.

It'll override previous settings.

I've originally posted the question several months ago and have tried ALL your suggestions. I've used different watches/clocks to ensure I hold down the unlock botton for exactly 5 seconds, tried it with the ignition in "ON" position and the shifter in all positions except "P". I will eventually make my trip to the dealer someday. I'll keep you posted. Many thanks.

Note: Already mentioned above, but I wish to clarify.

You must first "undo" whatever setting is current, be it unlocking when placed in PARK or unlocking when driver's side door is opened, whatever. THEN you can program it to do whatever the opposite of the original is. In other words, the slate must be clear before it will accept any new program.

At least this is the way my 2006 SR5 works. ;)

The manual covers this but, If you hold down on the unlock button for 5 seconds within 10 seconds of turning the key to the on position, the doors will unlock when shifted in to Park, and lock when put into gear (including reverse) That's how I set mine. ( you can also set it to speed) Check the manual, it's in there. On my 2004 its page 18-19

So I have an interesting issue - not sure if it is the same as anybody else's and I couldn't find any info in the manual.

I have the locks set to lock at speed (20 kph) - It unlocks when I turn the ignition off.

The problem i have is = It also locks the doors when switching ignition to ON. How do I disable this? I only want it to lock at Speed and not when I turn the key...

Automatic door locking and unlocking functions
You can set the following automatic door locking and unlocking functions

(a) Locking linked with the shift position
All the side doors and back door are locked automatically when the automatic transmission selector level is moved out of the "P" position with the engine running (including ignition switch in the "ON" position) and all the side doors and back door are closed. This function is the default setting for new vehicles

(b) Unlocking linked with the shift position
All the side doors and back door are unlocked automatically when the automatic transmission selector lever is moved to the "P" position with the ignition switch in the "ON" position

(c) Locking linked with the vehicle speed
All the side doors and back door are locked automatically when the vehicle speed reaches 20km/h (12 mph) or higher. However, if any of the side doors and back door is unlocked during driving, this auto locking function will not operate until the unlocked door is opened once.

(d) Unlocking linked with opening the driver's door
All the side doors and back door are unlocked automatically when the driver's door is opened within 10 seconds after the ignition switch is turned from "ON" to the "ACC" or "LOCK" positions.

Setting the Functions

1. Close all the side doors and back door
2. Turn the ignition switch to the "ON" position
3. Within 10 seconds after the ignition switch is turned to the "ON" position;

To set function (a)
Push and hold the front of the power door lock switch for 5 seconds with the automatic transmission selector lever in the "P" position.

To set function (b)
Push and hold the rear of the power door lock switch for 5 seconds with the automatic transmission selector lever in the "P" position.

To set function (c)
Push and hold the front of the power door lock switch for 5 seconds with the automatic transmission selector lever in any position except "P".

To set function (d)
Push and hold the rear of the power door lock switch for 5 seconds with the automatic transmission selector lever in any position except "P".

All the side doors and back door are automatically lock and unlock when you release the power door lock switch. This indicates the function is set. If all the side doors and back door do not lock and unlock, the time the switch was held may have been too short or too long. Perform the procedure over again starting from step 1.

If you want to cancel a function, repeat the procedure. Each time you perform the, the function is set or cancelled.

Does this work for a 2002 3rd gen with factory keyless entry only i.e. No alarm?
Sorry if this has been answered but I've searched a lot and have yet to find an answer. Currently mine does not auto lock but would like to turn that option on.
Thanks

Looking for a combo automatic lock and manual lock.
I hate how everything unlocks automatically.

Looking for a combo automatic lock and manual unlock.
I hate how everything unlocks automatically.

I agree with you, but I settled on option B for mine.

I got to this thread, as old as it is, because I couldn't get mine to program. But as several members have stated, it has to be EXACTLY five seconds. I tried to count repeatedly in my head. Didn't work, massive frustration. Finally came here, realizing that I wasn't exactly five seconds, and used my timer on my phone. Bingo. Worked like a charm. Doors lock out of park and unlock in park.

I am having the same issues. Have read the manual, searched the forum, nothing. The doors lock automatically when switching the ignition to ON. I tried different programming options (using a stop watch for the 5 seconds) but never got the lock/unlock confirmation. Any ideas? Could this be related to an after market alarm?

I finally got this to work after reading tips here.

It's important to turn the key on and immediately press the unlock button for five seconds.

My mistake was trying again, without turning the key off/on on each attempt