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I am not sure if NA cars have this as standart, it is a stand alone option in Europe; but if you have the highbeam asistant you can easily understand that by checking the back of your rear view mirror. There must be a blue sensor at the passenger (I mean for left hand drive cars) side of the back of the mirror, you should see it easily, even from a few meters distance when you face the car's front end.
Since my car is Euro spec. and w/out Nav + idrive I don't know how you should activate or desactivate it in yours though. Hope it helps.
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