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I'm having an issue where my driver's door controls wont raise the rear right window although it can lower it. I was able to open/close the window through the rear window's control but not through the driver's control.
I find this weird but maybe it's just because I know nothing about window electronics. I'm assuming the driver's rear right window switch has to be broken and that's why it wont lower, right?
Get some contact cleaner from Radio Shack or similar, turn the ignition off and spray the switch. Try and get in as much as you can. Raise and lower the switch while you're spraying.
Of course it's more effective to remove the switch assembly from the door by prying it up and thn spraying it from the back side. This however is a lot more work, and more risky as you may break something if not carefull. So try it first without removing anything. You may just be lucky and get it to work.
There can be an issue with the rear windows going down in this generation. I've had this problem in my '05. Fortunately it's an easy fix and worth a try. There's a few threads here about it, but essentially you start the car, then get in the back seat and SLAM the rear door while holding the window button down. Might take a few tries.
I had the same exact issue on my 2003 ES300 you have with your rear window. What I found was the switch button at the driver's door was missing a small piece of plastic (might have fatigued and broken off) that actuates the rear window to go up. I swapped the button on the driver's door for the one at the rear door/window...I can now open and close the rear window from the driver's position but the switch at the rear window will only lower the window, not raise it. Short-term fix until I can find a replacement.