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How to program all doors to open with door handle touch.

hold the LOCK / UNLOCK buttons down together (on the SmartKey until the Car beeps... now it will unlock all doors when you touch.

hold the LOCK / UNLOCK buttons down together (on the SmartKey until the Car beeps... now it will go back to only unlocking the drivers door

I haven't tried it myself as the car is in service.

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You can also get the dealer to set:

Park brake - all doors unlock

Drive/Reverse - all doors lock

I found changing to that was useful after just coming from a merc c200k where all doors are locked on driving, but if anyone opens a door, their door opens. Ny partner was forever getting locked in the passenger seat because she forgot to manually unlock the lexus. Put car in park, now unlocks all doors,

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