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.
