Solution
I haven't had a chance to look at the manual, but I did find this on the internet after several attempts at different keywords.
To enter programming mode, steps 1 through 8 must be carried out within 30 seconds.
Close all doors.
Make sure the ignition switch is in the OFF position.
Turn the ignition switch from OFF to RUN.
Press the door lock control switch to UNLOCK three times.
Turn the ignition switch from RUN to OFF.
Press the door lock control switch to UNLOCK three times.
Turn the ignition switch from OFF to RUN.
Verify the RAP module chirps the horn. This indicates that the RAP module is now in the enable/disable mode and ready to accept program changes.
To Enable/Disable Autolock
Press the door lock control switch to the UNLOCK position. (This selects the Autolock programming mode.)
Press the door lock control switch to the LOCK position. (This changes the current state of Autolock to either enable or disable.)
To confirm the Autolock change of state, the RAP module will chirp the horn. If the chirp is followed by a long horn blast, Autolock was just enabled. If no blast follows the chirp, then Autolock was just disabled.