IIRC on my Golf R (matrix LED headlights) I have to be going above 80kmh and push the left stalk forward to start DLA/AFLS (might need the light switch in the Auto position - mine is always set to Auto anyway).
If there is no street lighting I get the blue headlight symbol showing in the active display, indicating it is enabled and active. If another car is in front of me the matrix headlights block out that portion of high beam to prevent dazzle (works for both cars going the same way as me and also oncoming traffic).
If there is any street lighting it automatically switches to low beam and the headlight symbol goes grey (enabled but not active). When you get to a road without street lighting it will automatically switch to high beam.
NB It won't work in Eco mode (yet another reason to avoid Eco).
There are a number of videos around demonstrating it.
If you want to use manual high beam push the left stalk forward twice. A single pull will flash the headlights for as long as the stalk is pulled back.
2017 MY18 Golf R 7.5 Wolfsburg wagon (boring white) delivered 21 Sep 2017, 2008 Octavia vRS wagon 2.0 TFSI 6M (bright yellow), 2006 T5 Transporter van 2.5 TDI 6M (gone but not forgotten).
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