Your writing about not being able to open the door from the inside and not unlocking the door.

The inner door handle has push/pull steel rods going back to the area of the outer door handle area to mechanical move the door lock mechanism. The plastic rod bushing/retainer that holds the rod to their lever that make the lock work can break. The rod then detaches from the lever.

You should be able to remove the inner door handle to determine if the rods are still connected.

Might looking into removing the rear door panel to inspect things. The reason is sometimes the outside door handle stops working and now removing the door panel to inspect is a major pain.

Get some kind of service manual info to do this such as at below. Can get 24 hr access for a few dollars.

https://techinfo.toyota.com/techInfo....toyota.com%2F