I haven't done it on my 200. BUT - I DID do it on my last rig.
I used a SPDT switch that was triggered via the high beam signal wire I tapped into at the headlights. Admittedly the wiring wasn't clean/pretty, but it worked. I used this trigger as I wanted the aux lights to be able to be turned on with the high beams and also be able to use the aux lights independently of any other use case. I am hoping there's some software the switchpros, etc can use to make this happen without my ham fisted attempts to do this again with my virgin toyota wiring harness and messy looking relay installation. HTH.