The DRLs are only for the headlamps, from what I understand. I want the LED strip that is located under each headlight, not the LED headlamps themselves, to be fully on during the day, as well as at night (normal op).
There is no PCM like in the FFH and MKZ, in the Sport Trac, so no, it can't be programmed to turn on DRLs. The DRLs on the 2002 require a physical switch on the headlamp switch, wiring, and the DRL module... none of which came on mine.
The shop manual says the DRL on the MKZ is the LED strip, not the headlamp, so the dealer activation should be all you need:
Daytime Running Lamps (DRL)
The DRL system consists of the BCM and the front signature lighting (if equipped).
The DRL system operates the front parking lamps at an increased intensity.
I looked up a 2008 Sport Trac, that one can have the DRL turned on, but if yours is a 2002 then you're right, it needs some hardware.