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Okay. I have tested it several times in the last couple of days and have encountered no problems with just leaving it on. Thanks everyone!
Yes, the manual has several which all say "AUTO" and then say "if equipped", and mine was apparently just not equipped. Thanks.
Okay I have done that but managed to catch it before battery drained. Thanks.
So I just leave it on. On any car I've ever driven that would mean a call to AAA Auto Club for a battery charge. Cool. Thanks.
The salesman said there was an auto feature, but it turned out nothing indicates that on the switch.
Just bought a 2013 Prius v (lowercase v for the Prius v wagon, not an uppercase) and there does not seem to be an AUTO setting on the headlight...