I use the auto headlight setting and if you have the fog lights on with auto headlight turned on all the time, the headlights will always come on along with the fog lights automatically when it gets dark out each evening when you leave the light switch on auto auto headlight. If you turn auto headlight off and then switch back to it, you will manually have to run on the fog lights, but they will automatically come on as long as you always stay in the auto headlight setting with fog lights turned on.
One reason I prefer the fog lights turned on with auto headlight is the only way you can tell the lights are on with auto headlight at dusk before it is dark enough to see the beam in front of the car is by noticing the dash displays have dimmed. There is no dash indicator that the headlights are on with auto headlight, which is strange, but if you have the fog lights on all the time with auto headlight, the fog light indicator will turn on and show on the dash when the auto headlights activate at dusk so you know your lights are on.