Is it possible to program a 99 Rx to automatically lock the doors when the car starts driving? I bought the car used so I don't know if it was ever set that way but it doesn't do it now.

Also, while I'm at it, can I disable the panic button on the key? (physically or electronically)

 

Yes, you can get a Lexus dealer to change the CBEST settings, including auto-locking of the doors. If you do a search of previous postings, you should be able to find a list of what can be programmed in by dealers. Personally, I find the auto-locking very annoying. I haven't read of anyone figuring out a way to change the CBEST settings as a DIY project.