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Actually, you can do it without the iDrive also. Just press the button on the turn signal stalk, go to settings, then door locking or auto locking option, and select the auto locking setting. Unfortunately, all of these menu items are weird symbols with little or no text so it's hard to tell which is which. Look in the owner's manual for the symbol, although it may not be there. From what others here have said, the auto lock seems like a post-Sept software update. But I definately can turn on/off the auto door locks myself. It locks the doors at 5 mph.
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