It may be the result of a malfunctioning alternator, or simply a loose alternator belt. When the car is idling, the rpm's of the engine are decreased. This means that the battery is putting out energy, but the engine is not moving the alternator fast enough to refill the charge. When the car is moving, the alternator is getting enough power to keep the lights from dimming.
(http://www.wjjeeps.com/lamps/headlamps.htm) AUTO HEADLIGHTS CYCLE ON AND OFF WHEN THE VEHICLE IS PARKED AND TURNED OFF (with headlamp switch in "Auto" mode) The problem is most prominent on 1999-2001 WJ's, but it could apply to the 2002-2004 WJ's. The problem could be in the switch. The switch is a multiplexed circuit, the resistance of the HEADLIGHT ON position is very close to the AUTO position; the switch has been updated to correct this problem.
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