The only way to drive without your DRLs on a 2004 Impala is to have them deactivated by a qualified mechanic. They would likely need to modify the wiring or the Body Control Module (BCM) programming, which is a more involved process than simply flipping a switch. However, it's not recommended to disable the DRLs as they are a significant safety feature, making your car more visible during the day.
Attempting to disable them yourself could damage your car's electrical system and void your warranty (if applicable). Therefore, leaving them on is the safest and most practical option.