The "parking"/"side" lights that you mention do not ever turn on in AUTO mode. In Auto, the car will alternate only between DRL and Low-Beam. If your high-beams come on at low intensity during the daytime, they are the DRL.
I manually turn on my "parking/side lights" during sunset when I want my tail-lights ON but don't want my headlights ON
I manually turn on my "parking/side lights" during sunset when I want my tail-lights ON but don't want my headlights ON