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There's no setting to do that but its possible. VLEDS made a dual output ambient light kit for the 21+ Lexus IS that fades on/off with the door opening and also fades on to a lower level when headlights are on, but it's discontinued or out of stock now. So I had to DIY it. It's complicated but I can write a full tutorial if anyones interested
Basically, I built a circuit to do it without cutting any original wires. The factory wiring harness plugs into the footwell light housings using connectors. Connector pigtails are available on ebay/aliexpress:
90980-11148 plugs into the light housing
90980-11159 plugs into the factory wiring harness
Get two of each connector pigtail, building an extension cord. Wire it so the positive passes through (the lights are switched using ground). Intercept the ground with a diode and N-mosfet, so that both the ECU and mosfet can ground the lights, but when the mosfet grounds the light it won't affect the ECU. Connect gate to the TAIL fuse or a microcontroller, I used a microcontroller to dim the lights instead of full brightness at night. Otherwise just connecting gate to TAIL fuse would make it full brightness at night. Remember to add protections for transients, load dumps, fuses, etc.