I have a 07 acura tl type s and was wondering is there a way to keep the drl lights on when my headlights are on?

 

By changing simple setting in the dash? No.

By modifying car's wiring? Everything is possible. Are you running stock DRL?

In my thread here: https://acurazine.com/forums/third-g...nstall-960677/ I explain how DRL circuit works. Look at the first schematic. Everything else is not important if you only want to keep DRL ON..
If you want to keep DRL ON, source power from somewhere (like side markers, you know the orange bulb on the side of the headlight) and tap into power wire going to right DRL bulb, through the diode (to prevent DRL circuit back-feeding into side marker circuit).

 

Please don't.......DRLs at night are blinding to oncoming traffic.