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The rubber shouldn't affect it. That's just there to keep the water/dirt out.
IIRC, the whole reflector inside the unit moves when you adjust it, so both you high beam and your dipped beam will change.
Have you tried taking the 'servo' out and refitting it?
Make sure the little round bit on...
Only way I can think of is if you modify it to take 2 bulbs and have one in each way. Might work... but I know sod all about electronics really.
I just live without it coming on when the doors are opened :(