so my trunk opens from the remote fob and inside the car but when i use the button on the liftgate it doesn't automatically go up but seems to pop up for manual mode. The button on the inside of the trunk does work. Is that a setting i need to look at?

 

That is how it works on my 2010. When you push the button on the tailgate it just unlocks it so you can then lift it open.

 

can this be reprogrammed?

 

Not that I am aware of. If you want the motor to lift the tailgate you must either use the remote or the button on the dash.
Pressing the button on the tailgate activates manual mode and you must lift it yourself.

 

My 2015 user manual says that only the dealer can reprogram this function.
By default the back door opens automatically when you press the back button, but the dealer can change it so the button only unlocks it, and you have to lift it.
So call your dealer and ask them. Or look into getting the Techstreem cable and software.

 

I have a 2013 RX350 and it appears that year the power operation function for the button defaults to "off" but can be programmed by the dealer.

 

So the default setting changed from Off for the earlier models to On for the later models.
The good news is it can be customized by the dealer.