Automatic lights stop working

I have a 07 Touareg v6  and recently the automatic lights stopped working, I now have to
turn the light switch in order to get normal lights at night. The DRL is still indictated on
dash throughout the day and daytime lights are ok. A couple of months ago the yellow
headlight shaped fault light lit up on intermittent startups when the passenger side
headlight didn't come on,  then 1 day the headlight was working normally and that's when
I had to start using the light switch to turn lights on at night. I've tried moving the light
switch dial but no difference.