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Theres a sensor in the middle of the dash by the front windshield that detects sunlight and triggers the automatic headlights. The main headlights and daytime running lights might be on a different circuit, in which case they daytime running lamps would turn off at night and the main headlights would turn on, indicating the main headlights arent working and the daytime running lamps are working as intended.
I would check all the fuses related to headlights, check the bulbs and check the switch, then last the light sensor on the dash.
Your Corolla has daytime running lights (DRLs). A photocell determines whether it is day or night. Your DRLs turn on automatically in daytime without you operating the light control ("headlight") switch. Your DRLs are actually your headlights on low beam. At night, the photocell senses it is dark and disables the DRLs. When you set the light control ("headlight") switch to HEAD, the head relay closes and the headlights should turn on. Since they don't, I suggest opening the engine room junction block and checking the 40A MAIN fuse and the 10A LEFT HEAD (UPPER) and RIGHT HEAD (UPPER) fuses. In engine room relay block 5, check the 10A LH-LWR HEAD and RH-LWR HEAD fuses. Replace any blown fuses and the headlights should be working normally again
If the parking lights do not come on, they do have their own fuse, and it could be bad. This is separate from the brake lights.
But if the fuses are all good, then it could be the headlight switch. Remember the switch does the parking lights separate from the main headlights, so that you can just turn on the parking lights if you want, (Paris style). It is a feature left over from WWII, when Europeans were not allowed to run with full headlights at night, in the cities.
Im not sure I am following you. When it gets dark enough the "daytime" running lights should go off and the headlights and tail lights should come on for night time driving. The head light switch must be set in the "auto" position.
I had the "service vehicle soon" light come twice with in 1 year. First the heald light bulbs were gone. Replaced the head light bulbs and after 2 starts the "service vehicle soon" light was gone.
The second time the DRL - #194 amber bulbs were gone. Replaced these and the "service vehicle soon" light was gone after 2 starts. The DRLs are housed in the headlamp housing, the tiny bulbs beside the head light.