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does anyone know of an app that does this?

Yes, DockAwake. Costs 99 cents I believe and well worth it.

And hopefully by car mode you meant by CAR DOCK. cause it needs to be in the dock.

Well ... there's a new app that just hit the Market last week. It's called Dock Simulator. It simulates either the Car or Multimedia dock apps. Pretty cool for using 3rd party docks but enables you to use the OEM dock apps.
 
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