Keeping radio stay on until driver's door open, like the headlights?

I own a beautiful 2006 Tundra SR5
I added a new pioneer radio that now allows me to have hands free phone and text,backup camera, also play Waze and other apps that give me driving directions.
Does anyone know how to tap into the "auto on headlight system" I would like to have this radio stay on until the drivers door is open just like the headlights.
All of these new radio's come with a DVD player that will play while driving so all manufacturers have a legal disclaimer displayed.
Whenever the radio is turned on, and while this disclaimer is displayed all functions of the radio are locked; the volume that the radio was set from the last time the vehicle was shut off is the volume I am greeted with on startup, and I can't adjust anything for 10 seconds.
if I could tap the accessory power for the radio into the auto on headlight system then I would be able to adjust the sound prior to opening the door, also it would allow me to continue with a phone call or finish listening to what ever I am listening to until I am ready to exit the vehicle and without having to have the engine running.
thank you for any help......