Ok. I have read the S32 security system operating manual. There is auto arm with door locking. This will Arm and lock the doors after 60 seconds post the engine being switched off and the last door is closed. Only turned on by your Subaru dealer.
There is also safety lock which locks the doors on start up of ignition and open the doors when the engine is shut off. To get this feature to work you need to switch ignition to on, press any button n the keypad to wake it up. Then press 7 on the keypad, then switch off the ignition within 5 seconds of pressing the keypad. To turn it off repeat the steps that turn it on.
I hope this is what you are after.
Check your security operation manual.

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