SOURCE: My driver door on Lexus RX330 won't open
first thing you should do is try to have a shop open the door with a beak in kit. if they can't get the door open this way the door trim panel will have to be pryed off. it is difficult to do with the door closed but it can be done. the trim pane will probably be ruined during removal. once the trim panel is removed the door latch can be released from the inside.
one of the door switches has failed and the BCM is still seeing there is a door open.
SOURCE: 2006 Lexus LS430 with easy locks. Driver side rear door comes open while driving
Check out spring housing inside the door lock actuator. I had the same problem, some work anf JB weld will fix it,
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