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It sounds like a possible problem with you alternator not providing enough volts/amps to keep the lights steady. If it one light, it could be the bulb going out - buy a bulb from your local auto shop and try that. If it is both lights, you should have your alternator and battery checked at a Toyota dealer, local repair shop or if your handy with tools and don;t mind the work, pull them out yourself and take them to a local autoparts shop where they can test them for free. If either fail the test, replace them.
Have your alternator checked at the parts store for free. If good then take off n clean battery terninals n reattatch securely. If still problem then check cable to alternator and cable to ground. If still problem check chassis ground and ground to body. That should cover your problem
If the headlights were not changed at the same time the dim one may be about to go out. If you change the dim one and not both of them the other one will most likely get dim while the other is still bright
Yes the screen dims automatically when the lights are on to suit night driving. I am not specifically familiar with the 01 model, however on my 08 model, the display brightness is also manually adjustable via a button located below and to the right of the display. The button is marked with a series of short lines assembled in an arc. Hope this helps.