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Back up lights come on every time you are in reverse, independent of the headlights.
You don't need power from the battery, the wire to the back up light(s), is the hot wire. You only need to add a ground.
However that will not give you the feature you need and it would be fairly complicated to wire the lights to work only when in reverse and only when the headlights are on.
It may be simpler and less costly to wire a switch from the battery, then direct to the lights and operate them manually as needed.
If you go that route, you should use a lighted switch so that you can tell when the lights are on and off from the cab during the day.
You don't need power from the battery, the wire to the back up light(s), is the hot wire. You only need to add a ground.
However that will not give you the feature you need and it would be fairly complicated to wire the lights to work only when in reverse and only when the headlights are on.
It may be simpler and less costly to wire a switch from the battery, then direct to the lights and operate them manually as needed.
If you go that route, you should use a lighted switch so that you can tell when the lights are on and off from the cab during the day.