You can refer to your Owner's Manual to set or cancel the automatic door locking and unlocking systems.
It can be found in the section Opening, Closing, and Locking the doors.
There is a chart to set/cancel settings related to shift lever position, speed, and time.
Automatic door locking and unlocking systems
The following functions can be set or canceled:
Shift position linked door locking function - Shifting the shift lever out of P locks all the doors.
Shift position linked door unlocking function - Shifting the shift lever to P unlocks all the doors.
Speed linked door locking function - All the doors are locked when the vehicle speed is approximately 12 mph (20 km/h) or higher.
Driver's door linked door unlocking function (vehicles without a smart key system) - All the doors are unlocked when the driver's door is opened within 10 seconds after turning the engine switch to “ACC” or “LOCK”.
Driver's door linked door unlocking function (vehicles with a smart key system) - All the doors are unlocked when the driver's door is opened within 10 seconds after turning the “ENGINE START STOP” switch off.