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I think it depends on the setting. I did the "one-touch unlock" myself and maybe one or two others I can't recall. The DRLs might require the dealer to do it.

Coincidentally, I recently had a 2010 RX as a loaner and it had a "DRL off" position on the stalk, so you can just turn them off at any time. I wonder if Lexus will adopt that across the line.
 
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