In my vehicle there is a botton in the glovebox that gets accidently switched off. there is a child safety button to prevent automatic door closing...highlander may have this switch as well.
Try "Power Door Off Switch" to left of change caddy.
I had the same problem in my toyota highlander 2008 and after reading the toyota's owner manual, I found out that there is a safety button in the dashboard to disable or enable it
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