Unlocking doors

You mean when you touch the door handle (the SKS system)? Or using the button on the fob?
If you mean the door handle, then yes, you can set it so all doors open when you touch the door handle. You'll have to look at the manual, it gives instructions there. Basically it is a matter of pushing buttons on the fob in a certain way while you sit in the car.
If you mean using the button on the fob, I don't know, I don't use that but I assumed it opened all doors.

 

As was previously pointed out, it depends on how you are unlocking your doors.

If you are using the smart key system (i.e. touching the door handle) to unlock the doors, you can reprogram the SKS to unlock all doors when you touch the driver's door handle (see section 1-2, page 48, of your Prius Owner's Manual). Note that unlike your 2007 Prius, your 2010 Prius II only has 1 door SKS. The only door which has a sensor is the driver's side door. You can no longer unlock the doors by touching either the passenger's door or the rear hatch. Toyota only made the 3 door SKS (like you had on your 2007 Prius) available on the Prius III or IV.

If you are pushing the button on the key fob, by default the first press of the button unlocks the driver's door and a second press of the button (within three seconds) unlocks all doors. This can be changed by the dealer to unlock all doors when you press the button.

 

If I'm not mistaken, the Key Fob can be programmed to Unlock ALL Doors by simply pressing and holding simultaneously the Lock and Unlock buttons for between 3-6 seconds, then when the Unlock button is pressed, ALL Doors will unlock!

David (aka Blind Guy)