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Had this same problem on my 2000 Sienna. You have to purchase a new handle mechansm and install it from the inside. To do that you will need to crawl into the back of the van and remove the plastic cover. Once this is done you can snake a screwdriver in and pop the broken latch open. Then it is just a matter of unscrewing the old latch mechanism out and screwing in the new one, making sure to replace the latch wires appropriately.
The door handle might be broken, you need a new part. I got mine online for $40. keywords: 2001 2002 2003 2004 2005 2006 2007 Toyota Sequoia Metal Lift Gate Exterior Door Handle for Rear Outside Van Tailgate Handle. You need to remove the back door panel to replace this.
If you still have the broken piece, you can try to use that to try to open the back. Otherwise, you have to open it from the inside. I changed mine in 2007 so if memory serves me, I had to remove the back panel and pull on the cable to open the door.
Now to see and pull on the cable, and replace the latch, you have to take off the inside liner/panel to get to the latch to replace it. This took about 2 careful hours to replace.
The trick is to get the two side pieces off. These two plastic pieces are next to the window on the left and right sides. Each piece is about 3 inches wide and 18 inches long. Using a strong grip, or a pry bar or large screwdriver, take off both pieces. There are three clip areas that holds each piece in.
If you are using a tool, be careful to protect the area by wrapping a towel on the screwdriver/tool.
After that the bottom liner piece pulls away and you can see the latch. There are two screws/bolts that holds the latch.
The two pieces snaps back in pretty easily.
You probably broke the plastic piece shaped like a J. You can try to glue the pieces back, but note that the piece broke due to age. I changed the whole assembly - good for another 7 yrs. I could not find just the plastic piece
The handle that broke had a little 'finger' that actuated the release mechanism. The only way to open the back hatch is to remove the inner panel and push on the release mechanism.
Once off, you can either a) buy a replacement handle (expensive) or b) do what I did and simply make a piece of L-shaped metal to lever the release mechanism from the outside.
If your handle is completely off of the door you can look up under the little plastic cover (that hides the handle) and see the slot on the right side that the release handle inserts into. You need to stick the lever into that slot, and angle it down about 30 degrees from horizontal to get under the latch mechanism, which unlocks the hatch if you pry it upwards.
I had the same problem, and here is the solution:
It includes step-by-step instructions and photos. I printed it and headed to the garage. I while later (hours actually) it was fixed. I did end up going to the hardware store and buying the EXACT size screw they recommend. I went with a screw rather than a nut and bolt. Worked fine.