On my 2006, all doors lock once underway but when I park only the front doors unlock automatically. Is there a way to easily change this setting so all doors unlock when parked... without going to a dealer? Thanks.

 

The options are available in the C-Best settings. You need Toyota Techstream software and a dongle to change these settings. Either go to a dealer as they will sometimes do it for free, or find a friend with the software or you can subscribe to Techstream. Here's a link to do that.