I too don't like Toyota limiting me when I can run my fog lights. So I found the thread on ToyotaNation that shows just how easy it is to modify the relay. I now can run my fog lights anytime I have the ignition on.
Here is the thread, it is many pages and offers several variables on how to do this.
Here is how I did mine. The fuse is a 3 amp fuse. I was going to go with 5 but didn't have a spare. I'm going to get one later today. Also I'm probably going to switch to this method. My pic to come later, stupid work filters...