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This happened to me once as well. Started out in my parking structure and the headlights were on but they never switched off in broad daylight (no sensor obstructions either). Next time I drove the car the auto function worked perfectly. I've chalked it up to a software glitch for now. As for the DRL, I haven't really tried futzing with it nor have I spent a great deal of time with the manual so can't help you there...
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