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in Auto mode, when the front lights do come on, then the rears should as well.
Keep in mind that the Auto mode on the RX is not very sensitive. It comes on only when it's almost pitch dark, but does come on in stages, parking lights first, then the main lights.
you can get the sensitivity changed for when it comes on (mine come on if i drive under a flyover...very annoying but useful in the dismal conditions here).