2006 RX330.....Pressed the power assist button on the lift gate to close the door, had coolers and boxes in the back. Door closed and almost completely latched but the cooler prevented the door from completely latching closed. When almost closed, the door popped open. Now the power assist button on the lift gate doesn't function, close the door. Tried pushing the button in the glove box thinking it may reset.....still not working. Any ideas on what to reset or fix?

 

As I purchased my RX recently I can't help you from hands down experience, my Tailgate Power Door features are disabled until I repair the supports.
Hopefully this will help, according to the RX330 Manual:

 

Use the battery disconnect method from 05RX's post, but intentionally. In other words, disconnect your battery on purpose to reset the system. Car off, everything off, disconnect your negative battery terminal for 30 seconds. Reinstall cable, start car and go through the battery disconnect system "Initialization" procedures from your manual. Initialize windows, moonroof, personal seat settings, and rear hatch system. Follow the directions in your owners manual.