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sorry for the confusion. The SOS mode was activated because my car wouldn't start, and I needed assistance. After performing a full hard reset, the car successfully entered drive mode, it could be because of a recent update.

Before using the SOS button, I encountered a problem that required me to use it to get assistance in starting the car. The Rivian representative provided me with instructions on how to perform a full reset. However, I had to disconnect the SOS call to enable the car to enter drive mode.

There is no manual way to open the door from the outside. In my case, all doors were closed and couldn't be opened with the app or the card. A soft reset from the app may have helped here as well, but I don't think that's available either.

We were fortunate that the door opened on one side. It appears that a full reset was helpful. I was on the SOS call that might have caused the car to not start. Thank you for the quick suggestion.

R1T 5k miles, stopped for shopping, and the door wouldn’t open. I tried using the app, but it didn’t work either. The gear tunnel opened, and later, the left door opened, but I couldn’t drive the car. There wasn’t much message on the screen. I tried a hard reset by pressing the left steering...

https://www.pcmag.com/news/rivian-ceo-extreme-lack-of-choice-is-hampering-ev-sales-growth