No, you'll see the grey headlight icon with an A in it meaning adaptive is "armed"/ready. That icon will turn blue when it's actually using adaptive high beam.So in the menus if I have auto and adaptive on, when I start driving do I need to see the blue icon with an A in it for it to be working and automatic?
Because when I set if last hight I had it on in the menu but when I started driving I just had two green icons and fairly certain once I hit the dark section nothing happened until I pushed forward on the stalk
As above, pushing the stalk forward simply changes between dipped (the two green icons, which show sidelights and dipped beam) and auto being available/on. The car isn't the quickest at activating and deactivating the high beam coming in and out of lit areas. As long as that grey icon is there, the adaptive high beams will activate when the car decides.