Clearance lights should come on with parking lights on also.
But yes, maybe, sometimes, but not always do I run with headlights on.
NOTE - I had one of the inexpensive wireless cameras on the back of my Mirada and it interfered with my TPMS transmitters I had on my TOAD. I finally ran power and a video wire and hard wired the camera to do away with the wireless so I could see my Toad tire pressures and temperatures.