Why would automatic sliding door not pop out unless you pull handle?

SOURCE: 2005 Toyota Sienna Sliding Door Won't Open

Have 2005 Sienna and its Driver side door was not openning. Cheap dealer fixed it himself in front of me. After opening the doors plastic assembly while sitting inside with a screw driver. Then he bent the clip towards left where the metal wire is connected. If you guys want to see what he did i would record a video and upload for you guys. Let me know at [email protected]

SOURCE: sliding door on previa wont open or close properly

sound to like the door is out of alignment . It might have been closed hard on something while something was blocking the door. a mechanic need to adjust the level of the door or level the hinges and it should close properly.

SOURCE: 2005 Toyota Sienna XLE - Automatic sliding door not closing.

This may or may not work depending on exactly what is wrong with the door, I cant tell what is wrong without looking at it directly however:
You can try starting with all doors closed and unlocked, keys in hand disconnecting the battery and letting the vehicle sit for 2 min or so, then reconnect the battery. Put the key into the ignition and turn it to the on position but do not start the van. Next press the button to disable the power sliding door for the drivers side, then manually open the door fully, wait 5 seconds, then close it manually fully. Press button the button again to re-enable the power sliding door, then try to use it with the automatic feature either by pulling the handle or using your remote, this may or may not work depending on if the door has somehow become de-initialized (it should work now) however if something is broken inside the door closing mechanism or door closed/open sensors, the door will continue to malfunction.

SOURCE: 2005 Toyota Sienna LE Driver Side Power Sliding

Try this... it fixed my problem whereby the 2005 Toyota Sienna passenger sliding door would sometimes open and sometimes not, yet I could hear the motor trying to open/close it. It cost me 20 minutes and 10 drops of oil, not $1200.

First, get the door open. It took me two weeks of constant trying, but it finally opened.

Next, remove the plastic covering of the inside door handle this way: locate the two screws on the forward edge of the sliding door near the child-safety switch: (the switch is a small lever near the door latch, on the forward edge of the door) loosen and remove the two phillips screws, one above the child-safety latch, and one below.

Remove the plastic cover to expose the gears for the door open/close mechanism.

There's a bunch of intricate plastic and metal parts in there, all coated with white grease. I used some 3-n-1 oil to lubricate everything in there thoroughly, In my case, there was one part that was a little void of grease, hence it "stuck" occasionally.

Test the system. If it's Okay, replace the plastic cover, and re-install the screws.

Now my Toyota Sienna 2005 door never fails to open or close.

SOURCE: I have a 2007 Toyota

Try the following procedure to re-initialize the power sliding door:
-the power sliding door on/off switch should be just in front of the
drivers left knee. When in the 'on' position, you can see red around the
button. Turn the system off by pushing in the button so no red is visible.
Now you can close the power sliding door manually if it is open.
-disconnect the negative battery cable for one minute.
-connect the battery cable, go inside the van, and turn the system on (so
the red portion of the button is visible). Wait ten seconds.
-Open the sliding door with the button under the radio. After five
seconds, close it. Repeat twice.

Since it is sticking and groaning you probably also need to clean the tracks and to lubricate the bearings and upper track with lithium grease.