2001 Toyota Tacoma armrest replacement drivers side

Hi buckey,

Yes, you need to remove the door panel to replace the armrest.

On models without power windows, remove window crank handle. Remove screw and slide interior door handle forward and remove handle from control link. Remove door lock bezel. On models with power windows, remove clip from armrest panel and disconnect electrical connectors. On all models, remove 2 screws. Pry interior door panel loose from door. Lift upward and remove door panel.

Here is a guide and diagrams to show you how to do the job.

https://www.2carpros.com/articles/door-panel-removal

You move the arm rest by screws on the backside of the door panel.

Check out the diagrams (Below)

Please let us know if you need anything else to get the problem fixed.

Cheers