I've looked for this functionality, too, and only ever seen the "reprogram fob so when you touch the door handle" or "press the button on the fob twice".
My Prius of the same year does it, but I can't figure out whether I changed it with PIDs or it's a different function.
I don't know how this isn't brutally frustrating to everyone, but there are relatively few threads about it.
If you only care about the door handle, unlock and open the car, close the door, and hold unlock and lock buttons on the fob until you get a confirmation beep. This toggles between "just driver door" and "all doors" on most models with smart key fobs.