To change to the lights turning off when the drivers door opens one must go to the Stealership and have it programmed by computer. I fought with the stealership and Toyota customer service about this to no avail. The cost for this 3 minute reprogram at Smithtown Toyota on Long Island was $94.00.
And just a side note for all who have a remote start, If headlights are on and truck runs through the 20 minute cycle the headlights still do not turn off because a door was not opened.