2012 Toyota Camry Door Locks

We have a 2012 Camry SE and the power door locks don’t work consistently. Sometimes they open or close when the key bob is pushed or transmission engaged (or disengaged), but more often then not they don’t. While the car was under warranty they replaced the drivers door actuator, but at this point it is out of warranty and none of them really work. If they simply never worked I would assume that it was just the actuator but the fact that it is inconsistent makes me wonder.

Any ideas or thoughts? Would the actuator work sometimes? The car does “beep” when the key bob is pushed so that doesn’t seem like it would be the issue.