My previous Camry (1993 LE V6), came out just after they mandated DRLs in Canada. It was sort-of kludged onto the non-DRL (US) version of the time by adding an additional fuse/relay box under the hood to implement the DRL function. It switched on all the tail, side marker, and running lights together with reduced-intensity (high-beam) headlights when one took the car out of Park. The reduced-intensity DRL headlights were achieved by putting the L and R high-beams in series (nominally 1/4 the normal power). So, that vehicle had the feature you're requesting, but burned out side-marker bulbs every few years. If I think that mist, fog, or other conditions make seeing my TCH difficult from the rear, I switch to the "running lights" position of the headlight switch. If it's really bad, I go to full headlights.

Stan