Right now the only way to realize you don't have your lights on when you have DRLs is to realize that your gauge cluster is missing the notification that the headlights are on.
I'd wager simply adding an icon in the gauge cluster like an orange icon with a cross through it would solve a large portion of the issue as it would only rely on people noticing the active notification rather than the absence of another.
But that's still bright enough that a lot of automatic headlights don't turn on.
I know mine do turn on, even at the lowest intermittent setting. I thought I'd read somewhere that that was typical, but... maybe not?
You wouldn't want the headlights to turn on all the time when wipers are on automatic mode. Now why they don't turn on for regular modes, I'm not sure, but probably consistency: if you don't turn them on for automatic mode, but you do for regular mode, then that's going to be too confusing for the driver. Maybe they should come on when the wipers are activated in any mode and stay on for a certain number of seconds (by "stay on", I mean actively clearing the windshield, not just waiting for water to appear). But this might be too unreliable in practice?