If you don't want to touch your headliner, then your options are limited. The problem is that the Personal Lights (map lights) have an internal 2 position switch (ON and OFF). When they are in the OFF position, they never come on. When they are in the ON position, they are controlled by the Body ECU through the Dome Relay.
The Interior Light and Luggage Compartment Lights each have 3 position switch. When they are switched OFF, they never come on. When they are switch ON, they are controlled by the Body ECU through the Dome Relay. When they are switched to DOOR, they are controlled by the Body ECU directly AND through the Dome relay.
One thing you could do is change the operation of the personal lights so that it switches between ON and DOOR mode. To do this though, you'd need to modify the switch to provide an output to the current OFF position. This may be trivial, impossible, or something in between depending on the design of the switch. Assuming you can do this, the new wire would connect to pin 8 (white wire) of the 20 pin junction connector 1A at the Driver Side Junction Block (the fuse panel in the lower dash).
Another (ON and DOOR) solution would be to tap between the switch and the bulb. You'd then hook this up to the same pin as above but this time through a diode. The diode would prevent the other lights from coming on when you switched the the Personal Light to the ON position.
The easiest (but least functional) solution is to disconnect pin 12 (white wire with black stripe) at 1A and splice it into pin 8. This would make the Personal Light switches switch between DOOR and OFF modes. You'd have no way to force the lights ON. Regardless, this can be done entirely from the fuse panel opening in the lower dash.
Extending the solution above, you could add a two position switch to toggle between pin 8 (DOOR) and 12 (ON). The built in switch would toggle between OFF and DOOR/ON.
There are several other possibilities.
All of the solutions above suffer from the same potential risk. Each of them results in additional current flowing through the Interior Light Enable (ILE) pin of the Body ECU. As designed, there are only 3 lights on that pin (Interior Light, Luggage Light, and Key cylindar Light). The solutions above add the Peronsal Light. I cannot say or not if the ILE pin can handle the additional current.
If you make these mods you may fry your Body ECU, start your car on fire, or even destroy the universe. You do this at your own risk and accept full liability for the consequences. I have not attempted any of these changes and can neither confirm nor deny if they actually work as described.