My 2016 RX 450h has 42,000 miles & sometimes (more often than not) the passenger door won’t lock and/or unlock. The only way to lock the car is to push the door plunger down. To unlock it, I have to lean across the seat & pull on the door handle. Neither the remote or touching the outside handle will lock/unlock. There is clicking inside the door & the audible beep sounds, but nothing happens. Has anyone had this issue?

 

Is the battery still the original?
If so it may be the cause, in these vehicles full of electronics a low voltage battery can create all kinds of problems and send all kinds of codes.
Check battery voltage and if still the orig one try a new one just to see, if you can.

 

Yes, it is original. I never gave the battery being the cause a thought! I’ve never seen my battery - I just know it’s buried under the cargo floor.

 

I missed that yours is a hybrid, but the possibility still holds, have the electrical system checked.

 

Hopefully it's just a battery, but could be the dooractuator. I've read on a string here before about a similar issue and this was replaced.