Yes that light is a very useful, and I have it on my car.
The way it works is that any time the driver's door is opened, that light goes on and stays on as long as the door is open. However as soon as the door is closed it goes out after 4 seconds.
I know it was standard on ADM 90 model SW20's, but Toyota discontinued it soon after on later models.
Why? who knows?
The wiring for it is in the diagrams below taken from a USDM service manual, so I don't know if your loom will have it built in. If not you could wire it into the interior light circuit with a timer to stay on after the door is closed, but you would need the illuminated ign barrel.