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You have to actually have your car turned on while you leave the headlight switch in the on position, and then turn the car off while them on, that'll trigger the feature

I have a 2015 Corolla s and this feature can be turned on through the vehicle customization on the radio. If you leave the headlights in the on position you can set it to a 90 , 60 , or 30 second timer before they turn off. However if your press the lock button twice they will turn off.

I use the kenu airframe + it works really well and it's exactly what you're looking for. Unfortunately it won't let me post a link but you can buy it on amazon or at target