I found these two custom settings:
Speed-detecting automatic door lock function (Lock at 12 mph)
1. Turn the Key or Smart Key to "ON."
2. Shift the Lever to "N" (make sure you are on a flat surface).
3. Within 10 seconds of turning the key "ON," press the HOLD driver-side LOCK BUTTON for 5 seconds and release.
4. Lock will cycle to confirm.
5. To reverse, repeat steps 1-4.
Shifting to a position other than P locks all doors.
1. Turn the Key or Smart Key to "ON."
2. Shift Lever to "P."
3. Within 10 seconds of turning the key "ON," press the HOLD driver-side LOCK BUTTON for 5 seconds and release.
4. Lock will cycle to confirm.
5. To reverse, repeat steps 1-4.
I did the "other than park locks all doors," which worked for my Corolla Cross.