I leave my headlights on auto 99% of the time, and regularly find myself b!tching at people who, in drizzly or misty weather, have no lights on at all. This invariably leads to me wondering whether the auto mode has deemed it dark enough to put the lights on, and I switch them to manual.
As far as I can tell, there is no dipped headlight symbol that comes on when the lights are actually on, in auto mode.
I have coded my rear lights to be on as DRLs as well, so I'm not too worried about those. It's the front in weather that is light, but probably worthy of headlights.
Now I think about it, I have also coded my fogs to be on with DRLs as well, so it's probably not a problem for anyone to see me. However, I would like to make sure my own house is in order before throwing stones, as it were.