Sounds like the stepper motor has gone bad in the driver's side light assembly. The part is $45, but it's a giant PITA to change as you have to take the fender off to remove the assembly. Don't take it to a stealership as they will only change the entire assembly for $2400 plus labor (I'm not kidding, wnet through this but mine was covered by good faith repair).

As to the highbeams, the inner "lights" don't come on per se. Those house the bulbs for the halos.