yes there is. it's in the menu system in dash
There IS NOT. When you change it in Advanced Settings it will be active for the next time you lock the truck, then automatically reverts to FULL arming of doors, tailgate, hood and motion sensors.
You can select Ask on Exit which will present you the choice each time you leave your truck...but as many have noted it is easy to forget if you're out running errands with your pooch.
I finally decided that I was not concerned with the interior motion sensors enough and that I have my dog with me more often than not...that I was fine with permanently disabling the motion sensors. Some others have simply taped over them with black electrical tape. That's not my style.
So I went into FORScan and permanently disabled them. Only way to turn them back on is to go back into FORScan and undo the change. Nothing harmed. Totally back to stock. Fully reversible. Just not something you're going to do and undo quickly or often.
Here's how I look at it. As long as I have nothing in the vehicle that can be removed through an open window, no big deal. Most likely scenario is someone thinks they'll reach in and unlock the door and then open it...triggering the alarm.
When paired with the Perimeter Plus (only available as an after sale option -- NO TRUCKS come with this as a factory installed option) you can have hood, door and tailgate protection with the factory standard alarm and jacking, towing, impact (so if they decide to break a window rather than open a door) protection with the Perimeter Plus installed.
I detailed the FORScan changes required to disable the interior sensors in the Tweaking Your Truck thread. Works great! These changes are NOT in the spreadsheet although they are a reversed subset of the changes that were being made by those who added motion sensors to trucks that did not come with them.