Sounds like the locking mechanism in the passenger door may need lubrication. You could also have a wiring issue and/or the actuator solenoid on that door could be bad. I'm assuming you are using the keyless locking fob. What happens when you push the door locking button on the driver's side door or the locking button on the passenger door itself? If these work as they should and with not hesitation then you likely have some other problem in the locking system.
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