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Rear Doors - Child safe?

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This may have been asked and answered before, but I couldn't find it. How do the rear doors work when the doors are locked? Can they be opened from the inside? Do they need to be unlocked first? Does a "double pull" on the inside handle open them? Is there a way to only allow them to be opened from the outside (child proofing them)?
 
https://www.teslamotors.com/sites/default/files/blog_attachments/ms_owners_guide.pdf
ChildProtectionLocks.jpg