If anyone else runs into this problem, here is the fix I discovered with my neighbor:
The cables inside the doors have plastic grommets on the ends which help hold the cables into place on the latches. The grommets cracked off due to wear and age so the cables were no longer connected.
After pulling the inside door panels off, we were able to pull the cable which attaches to the inside latch through the hole under the latch. This is a temporary fix which allows me to open the door from the inside only by pulling gently on the cable.
I have to get replacement cables (probably from dealer) and replace the cables. Should be easy once I remove the rear license plate holder.
So find the cable and pull on it gently to open the door, then replace the cables.