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Question about how the door locks work for the rear doors

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I have two kids, a one year old and five year old. The five year old is able to open and shut his door, climb into the booster and buckle/unbuckle himself in. Right now I have the child safety locks on for the rear doors, so when we arrive somewhere, I have to go around to the other side of the car and open the door for him and let him out.
Got to thinking though, if all the doors are locked and the child safety locks are not on, can they be opened from the inside by pulling on the handle? If not, this could allow me to prevent my kids from opening the rear doors just like the child safety locks were on, but then when its safe to get out I could manually unlock all the doors and let them out.
Its getting old walking around to the other side of the car to let my son out, when he is perfectly capable of getting out on his own. Also prevents adults from feeling trapped if they ride back there.