Headlights and tail lights have not happened to me, but other similar things have. I had noticed that the truck seems to wake up randomly without obvious reason. The dash instrument panel will come to life and the uConnect will come on. Once I saw overhead interior lights on. Mainly I was concerned about battery if this was happening repeatedly. I don't think it was but I have started keeping the FOBs in a Faraday container when not using the truck and so far that seems to help. In my case the FOBs are probably at the edge of their range from the truck when at home so this may be a factor for me.
The fact that you had headlights, tail lights and a triggered security camera makes me think something else was going on. Weird. Your truck obviously thought something was going on. Sometimes I believe these new trucks do to much "thinking" on their own!