To answer the question, just find a hot wire and relay it to the socket. As mentioned, there is one on each side of the truck in the tail light wiring harness. This wire is for the trailer plug, but can be tapped into simple enough.
A better option would be to run a dedicated 4ga+ wire to the rear of the truck and use a distribution power block. That way, you could add more than one cigar lighter, or even an inverter, amp, lights, etc.......
As far as the electrics go, the LR3 is pretty cool in that department - sort of. The ECU manages the power usage and will regulate accordingly. Tami had only 10.4 volts of power left in her battery after something fucked up in it. But, with only 10.4 volts, the battery would still start the car, continuously, for over a week. The LR3 will "power off" certain components when it senses a low power situation and deactivate things it really does not need. That only leads me to think that there would be a way to wire for such things as an Engel only to have the factory ECU "turn it off" when the power is getting low.