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Hey Lknight, I did the same with mine. What kind of "LED plug and play" lights did you install?
Outside of coding the error messages away, I am not sure if there is anything else you can do about this. IMO it's pretty normal for lights to need a second or two to fully power up. Xenon lights take a few seconds to reach maximum intensity, even halogens need a second to heat up. Honestly, LEDs might be the best thing out there for quick start-up.
I know it is probably annoying but is there any other reason you want to change this? Is there an issue while the car is running ie: flickering or shutting off randomly during driving? If my two cents are worth anything, it might not be worth it to play around with the car more or invest more money.
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