4runner headlight delay, auto shutoff

I have a 2000 4runner and I just added remote start to it. The one problem I have is toyota's auto headlight shutoff feature. Usually if you leave the headlights on, they turn off when you shut the truck off, and then open the drivers side door. With remote start, if I start the car, and then the time limit exceeds, the truck shuts off, and since the door is still closed, the lights do not turn off. What I would like to do is disable toyota's auto headlight shutoff feature, and instead create a headlight delay, so my lights would stay on for 30 seconds after the truck is shut off. I have no clue how to do this, Im good with wiring, just need something to work off of. Any help would be great! Thanks!!!

try sending a negative pulse to the drivers door pin, after shutdown, or you can find the headlight-daytime running light wire and break it with a relay. so it "opens" the wire while remote started. (the lights wont come on) until you put the key in. The relay needs to be triggered with a ground while running!