A little bit of lithium grease should fix that.

 

I use silicone spray lube on rubber seals.

 

Door Seal Creaking

It could be a very dry door hinge making the sound. Use some white lithium grease on the door hinges.

 

Well I fixed this with some silicone lubricant spray. But now I have a rattle coming from front windshield area. Kind sounds like the glass is rattling or something is ticking against the glass. Haven’t figured that one out yet.

 

I had a rattle in my new Highlander in the first few days, started to think" typical 1/2 baked US assembly". Turned out to be my sunglasses rattling in that dinky ceiling mounted rear seat view mirror/sunglass holder.

It's a good idea to clear the vehicle of any clutter that has been put in it and then drive around to check for the rattle.