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more than likely, the plastic clip the hold the linkage to the lock handle on one end and the door latch on the other end is broken. You will have one clip at each end of the linkage. Pull the door panel off and see if you can see whats going on. If it is a broken clip, take the good one into a parts store and buy 2 and replace them both. For Toyota, you may end up at the dealer for these parts.

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Q: How do you fix a door lock on a 1996 Toyota tacoma if the inside lock is moving around and you can only lock the door by locking it from the outside?
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