If you want to control your lights from your upfitters AND have them come on with your highs (if the upfitter is OFF for example) then you need to use a relay. You never want to power lights from a circuit you are tapping into, as that circuit is already fused and now you'd be trying to power the lights from that existing circuit. Not a good idea.
Install a relay to your fogs (or the 1 pair). You'll use the upfitter wire as a TRIGGER into your relay. You'll also use the high-beam tap as a TRIGGER as well.
Now you'll also need to install a DIODE, because if you power on your upfitters, that will send positive voltage to that relay TRIGGER point... which also has a wire going from that same point to the high beam area. So you'll now be "back feeding" that high beam tap with power, turning your highs on any time the upfitter is on.
Diodes are cheap. You can get a dozen of them for like $2. They allow power to travel one way. Here are the diodes you can use. You'd install this between your high-beam tap and the relay so that it only lets power go ONE way (towards the relay).
This is why the LVJ setup is nice. It's all done for you already. You just wire the lights to your LVJ panel, and they give you control wires to turn the lights on and off that you wire to your upfitters. SO your lights plug into the LVJ instead of your upfitter... and your upfitter connects to the LVJ panel.
you then run the high beam trigger to the LVJ panel. he has the diodes built in already to prevent back feeding. What's nice is you can do multiple circuits with the high beam trigger. And you can pick which lights come on.
Here are the diodes if you want to make a system yourself with a relay:
https://www.amazon.com/gp/product/B07X7VJ7ZC/?tag=fordraptorforum-20
This is a 30 pack, but you can find cheaper ones online if you only need a few. I tend to keep a lot of these on hand because we make custom harnesses for folks sometimes (our reverse harnesses also feature built-in diodes for the same reason, to prevent back feeding)