It sounds like your talking about the strut, and most likely the plate that is mounted to the door itself has come loose. That is the most common failure, and proper repair isn't easy. The problem is the screws don't go onto anything substantial to hold them.
I have used bamboo skewers in the holes to hold the screws, and on one with the owners approval, I drilled through the door and then used pan head bolts with washers and nuts on the inside. I cut the bolt length so that it only extended the length of the nut, and then covers the nut with clear silicone to prevent snags, and painted the heads to help them blend in with the door color.
Other than these two repairs, I think replacement is the only other option.
On edit: I guess there is another way..
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2012 Copper Canyon 273FWRET being towed by a 1994 Ford F350 CC,LB,Dually diesel.
Airlift 5000 bags, Prodigy brake control, 5 gauges on the pillar.Used to tow a '97 Jayco 323RKS.
Now an RVIA registered tech. Retired from Law enforcement in 2008 after 25+ yrs.
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