OK, good news. I finally found it. First, thanks to the uber kool excellent tool created by TokenMaster, the NcdCafdTool. This helped me understand and narrow down the parameters.
Here are the settings:
LWR_AHL_TYP = auto./dyn. LWR+AHL = 03
C_FLC_ENA =
F030disable (LWR, Leveling sensor)
C_AFS_ENA = F030enable (Light Distribution)
C_BLC_ENA = F030enable (AHL)
C_CLC_ENA = F030enabl (Cornering light)
BLC and CLC are enabled by default, but double check just in case.
Result: No more warning. AHL works and moves with steering. light focus above 25mph, splits/tunnels/widens below. Left or right fog lights turn on when blinker is on or when wheel is steered. Fog lights turn on on reverse.
Damn, I'm a happy camper. Additional option I did: Corona lits up at 40% brightness when headlamps are on (default is 8%).