is there a way to do this with jumper diodes like with the 6 high mod?
Yes. Connect the ground from the negative coil of the parking lamp relay to the negative coil of the DRL relay, band on the diode facing the parking lamp relay.
If you do it at the underhood fuse box, the parking lamp relay wire is white. The DRL relay wire is Green/Black.
If you do it at the BCM, they are at the big gray plug. Parking lamp is B2 white. DRL is B4 Green/Black.
Or if you want them to come on with your headlamps, then you can use A4 Pink/white, also at the BCM gray plug or same Pink/white at the headlamp relay at the underhood fuseblock.