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Have you made any changes to the truck recently? Added any new lighting or tapped into existing lighting circuits?
I had raptor lights tapped into drl on driver side headlight thought that might be the issue. So I removed that splice and just hooked it back up without those hooked in.
Sounds like there is either a backfeed somewhere during a "vehicle run condition" causing the lights to fail. There are multiple systems that only turn on when the vehicle is in run and/or running. I'd try disconnecting the battery and depleting the power from the system. You likely have a hardware issue, or an electrical issue somewhere within the circuitry or the modules.