If you have it it would be on the "Turn Signal Stalk" labeled "Auto". From the quick reference guide it seems you may not have it.
I bought a 2010 for less than $30k and then added auto headlights ... I don't know whether it's as easy in a 2021, but that might be a solution. Found the stalk switch with the auto position from a recycled '09 Lexus for cheap.
On my 2015 Prius Two, I just leave the headlights on all the time. They turn off automatically 30 seconds after turning the car off and locking the doors.
No auto headlight on LE model. Toyota clipped the PP lower trim levels to differentiate from the Ltd model. Prius model has BSM and other features on lower trims that are found only in PP Ltd.
Need to get the wiring info for the newer ones and give this a shot.... Was a former car audio installer, still do remote starts for family etc. I'd love to add this to my PP LE.....
Report back what you find out. I'd like to do this mod. too. From my experiences with Honda's and Toyota's; they're usually pre-wired. May have to add a fuse and/or relay in the fuse box to activate this function. My last car was a 2013 Prius C One, I wanted cruise control and found out all I had to do was buy a cruise control stalk and notch out the steering column plastic. It was plug and play and save me several grand in not having to move up to the Two.
Toyota likes to cheap out on the parts to make different models, parts that shouldn't be cheaped out and should be across the entire line, auto headlights, under dash lights, cruise control and on and on. Things like HUD, auto wipers and stuff like that sure, but not basics.
That also leaves the TAIL lights on all the time and makes your brake lights slightly harder to notice in the day time. That is why the tail lights do NOT come on in DRL mode.
That might work in our LE, I see we have the sensor on the dash. Never understood why we don't have it. We have so many other features!