My 2010 Highlander's Hatchback won't close or open with the remote or when I press the buttonon the hatch. In both cases I hear two beeps. I ca't seem to find the answer in the user manual.

Please check the battery on your remote control first...then if that doesn't work... you will need to check the central module that controls, windows, locks and mirrors.

There is a button inside the glove box that disables the back door.

I had this problem with my 2016 Highlander. I find it annoying that the solution isn't in the Owner's Manual! In my case, the power back door system was refusing operate the hatchback because the glass hatch (window) on the hatchback door was unlatched. The power back door system resumed normal operation once the glass hatch was closed and latched. Operation of the glass hatch is described starting on page 141 of my copy of the Owner's Manual. Please note that the glass hatch is operated by the small black button near the center of the hatchback. Users unfamiliar with the vehicle might assume that the button opens the hatchback. Once the small button is pressed, the glass hatch is unlatched and when the power back door system is activated, it sounds two beeps and refuses to operate the hatchback. A alert inside the car will indicate that a door (the glass hatch in this case) is ajar, but there is no indication outside the vechicle that the glass hatch is unlatched. Please note that one way for the hatchback to get into the open position with the glass hatch unlatched is for a user to unlatch the glass hatch and then to manually open the hatchback.