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It is possible the hinges or the mounts where the hinges are connected tot he door are bad. As for adjusting them I dont remeber ever adjsuting them when I was working for Toyota. I know on older domestics you can add or remove shims to where the mounting bolts are.I have never really paid much attention to the Toyotas though since I have never had to worry about this problem. COuld also be the door latch mechanism. It has come loose from it mounting points in the door or the door jamb and not allowing the door to close correctly. Has the car been inan accident that may be causing this to happen.
 
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