Alarm waits for all doors to close

2019 Tundra, one the best alarm features is the wait for doors to close. I get out of the truck with the keys and lock the doors with fob… if any doors are open the alarm won’t give lock beep untill all other doors are closed.. Can I make this work on my 2016 4 runner??

 

Is there not a chance that a child may unlock the door and close it after you locked it. At that point alarm set, but door unlocked. Yes, or no? Curious cuz I also have a 5th gen.

 

if door gets unlocked no alarm set or beep…

I will get out of driver door and close it.. open back door and hit the lock button.. put keys away and grab my groceries. As soon as I close the door alarm beeps..