I have had the same problem intermittently on both back doors of my 2013 VW Amarok, and I have seen on various forums that it is fairly common on older VWs. The problem is caused when the microswitches inside the lock start to malfunction, and no longer give the correct feedback signals to the door lock controller.
The simplest solution is to order a new lock from VW and get them to fit it, but it is an expensive part, and with labour charges on top of that, it can be really pricey.
The next option is to buy a new lock or get one from a scrapyard and fit it yourself. If you are lucky, there might be a video on YouTube explaining how to do this on a Touareg, if not, removing the old lock and fitting the new one will be a challenge.
There are also videos on YouTube which explain exactly how to open the locks and replace the microswitches, in detail. This could be an option if you don’t need to use your car daily.
Finally, there is a hack which I found on YouTube which really works. It should work for both back doors, and the passenger side as well if it gives problems. With the door open, you will see a round rubber plug above the lock. If you remove it, you will see round piece of plastic with a slot in it. Use the car key to turn the slot 1/8 turn anticlockwise. This should reset the lock. Close the door, and press the lock button on the remote. The door should lock.
If you are lucky, you won’t need to do this every time you lock your car. Normally I can hear the difference, because when all the locks are working properly, the door lock controller only gives one pulse. If one of the locks is faulty, there are two pulses, which tells you to check.
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