OK, the owner's manual was written for all of North America market, both United States and Canada.
Canada got the full Auto, which turns the headlights on and off automatically based on how dark it is outside. They also got DRL.
But in USA, we did not get full auto. The car will not turn off the headlights based on how dark it is outside. We have no light sensor. What one might think is a light sensor is actually a radiant heat sensor for the AC. You'll notice right next to it is a blank space for another sensor, which is where the light sensor would be. Canada has both sensors.
Now we got that out of the way, lets clarify Auto Off.
Auto Off only works with the driver door. If you power off with the driver door open, the headlights will go out. If the door was closed and you powered off, the lights will go out when you open the driver door. If you turn on the headlights after powering off, they will stay on, regardless if the door is closed, open, or opened then closed. However you will get a reminder beep if the door is opened and the logic does not say to turn them off.
If you were to come in from any other door and powered up, the headlights will come on. And they will stay on even if you power down, if you don't exit from the driver door.
If you turned on the headlights while the car was powered down, the lights will stay on. Of course in order to turn the lights on, they would have to be in the off postion first, or put in the off position if it were in the on position.