It sounds like your DRL RELAY/Headlight relay. I had this happen with a 2000.
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Here is some info that I hope is helpful to you.
This first part is how to disable the DRL
TOYOTA. From the Toyota technical service bulletin EL011-00 Web site for specific models determine where the module is; either the DRL relay or the body ECU, connector number, pin #. Oct 6,2000.
Avalon 1999 DRL relay D4 pin 1
Avalon 2000 body ECU B5 pin 6
Camry S/D 99* DRL relay D6 pin 23
Camry S/D 00* DRL relay D6 pin 10 *twilight sentinel
Camry Solara99/00* DRL relay D6 pin 23
Celica 2000* body ECU B6 pin 17
Corolla 99/00* DRL relay D3 pin 23
ECHO 2000 DRL relay D2 pin 12
4Runner 2000 DRL relay D8 pin 2
Land Cruiser 99/00 DRL relay D8 pin 2
MR2 Spyder 2000 DRL relay D2 pin 12
RAV4 99/00 DRL relay D17 pin 2
Sierra 99/00 DRL relay D4 pin 2
Tacoma 2000 DRL relay D8 pin 2
Tundra 2000 DRL relay D7 pin 2
-disconnect battery- Then remove the wire with pin attached and tape to the harness. (consider just cut and tape the wire) -check operation- [except the 2000 MY-Avalon, additionally you need to ground the wire at the module end of the cut wire]
And here is the Headlamp relay part number.
ACDELCO
E1717C
[RELAY-HEADLAMP] RELAY,HDLP OEM#89057700 ALL MAKES
?€¢
Place the headlamp switch in the OFF position for automatic lamp control (ALC) operation. During ALC the low beam headlamps are ON for daytime running lamp (DRL) operation in daylight conditions at reduced intensity or low beam headlamps ON at full intensity with exterior park lamps ON in low light conditions.
The ambient light sensor is a light-sensitive transistor that varies its voltage signal to the body control module (BCM) in response to changes in the outside (ambient) light level. When the BCM receives this signal the BCM turns ON just the low beam headlamps at reduced intensity for the daytime running lamp (DRL) operation. A resistor wire is used (CKT312) to reduced the voltage which reduces the light intensity for the DRL's function. The ambient light sensor can also turn ON the low beam headlamps and the exterior lamps for automatic lamp control (ALC). Any function or condition that turns ON the headlamps will cancel the DRL operation (this means no reduced voltage to the low beam lights). Thirty seconds after you start the engine with the headlamp switch in the OFF position, the DRL will perform one of two actions:
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Illuminate the low beam headlamps at reduced intensity in daylight conditions
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Illuminate the low beam headlamps and exterior park lamps for low light conditions
The DRL operates when the ignition switch is in the RUN position, the parking brake is not set and the transmission is not in the PARK position When these conditions are met and the DRL ambient light sensor indicates daylight conditions the DRL will illuminate
Should have BCM scanned for DTC'S - diagnostic trouble codes , could have DTC'S stored in memory !
DTC B2645 Ambient Light Circuit
The body control module (BCM) monitors the ambient light sensor signal circuit in order to determine if the daytime running lights (DRL) or the auto headlights (ALC) should be turned ON in the AUTO mode. When the BCM senses the ambient light sensor voltage is between 1.75-4.9 volts, either the DRL will be commanded ON or the ALC will be commanded ON.
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A poor connection
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A short to ground
Refer to Circuit Testing and Wiring Repairs .
Did you find and correct the condition?
Go to Step 19
Go to Step 10
9
Inspect for a poor connection at the harness connector of the lamp switch assembly. Refer to Testing for Intermittent Conditions and Poor Connections and Connector Repairs .
Did you find and correct the condition?
Go to Step 19
Go to Step 14
10
Inspect for a poor connection at the headlamp module. Refer to Testing for Intermittent Conditions and Poor Connections and Connector Repairs .
Did you find and correct the condition?
Go to Step 19
Go to Step 15
11
Test for a short to ground in the low beam voltage supply circuit. Refer to Circuit Testing and Wiring Repairs .
Did you find and correct the condition?
Go to Step 19
Go to Step 12
12
Inspect for a poor connection at the harness connector of the underhood fuse block. Refer to Testing for Intermittent Conditions and Poor Connections and Connector Repairs .
Did you find and correct the condition?
Go to Step 19
Go to Step 17
13
Inspect the inoperative low beam headlamp voltage supply and ground circuit for a high resistance, a short to ground, or an open. Refer to Circuit Testing and Wiring Repairs .
Did you find and correct the condition?
Go to Step 19
Go to Step 16
14
Replace the lamp switch assembly. Refer to Headlamp Switch Replacement .
Did you complete the replacement?
Go to Step 19
--
15
Replace the headlamp module. Refer to Relay Replacement in Wiring Systems.
Did you complete the replacement?
Go to Step 19
--
16
Replace the inoperative low beam headlamp. Refer to Headlamp Assembly or Headlamp Bulb Replacement .
Did you complete the replacement?
Go to Step 19
--
17
Replace the underhood fuse block. Refer to Testing for Intermittent Conditions and Poor Connections .
Did you complete the replacement?
Go to Step 19
--
18
Replace the BCM. Refer to Control Module References for replacement, setup, and programming.
Did you complete the replacement?
Go to Step 19
--
19
Operate the system in order to verify the repair.
Did you correct the condition?
System OK
Go to Step 3
IF
Step
Action
Value(s)
Yes
No
DEFINITION: This diagnostic procedure should only be used if the high beam headlamps are operating properly and the low beams are inoperative.
1
Did you perform the Headlights System Check?
--
Go to Step 2
Go to Headlight System Check
2
Does the test lamp light?
--
Go to Step 3
Go to Step 5
3
Does the test lamp light?
--
Go to Step 4
Go to Step 6
4
Does the test lamp light?
--
Go to Step 7
Go to Step 8
5
Replace the headlamp dimmer switch.
Is the repair complete?
--
Go to Headlight System Check
--
6
Repair the open in CKT 359 (PPL) between the headlamp dimmer switch and the daytime running lamp relay.
Is the repair complete?
--
Go to Headlight System Check
--
7
Replace the high/low beam headlamps.
Is the repair complete?
--
Go to Headlight System Check
--
8
Is the repair complete?
--
Go to Headlight System Check
--
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