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Typical symptoms of a failing unlock motor in the drivers door actuator. they always show themselves first on the operation of the key fob.
Easiest fix is to replace the door actuator which although can be fiddly is not hard to do.

NB: On the drivers door actuator there is a bar nicknamed the dogbone bar because of its shape that MUST be reconnected when you fit the new actuator. Without it being fitted you will loose the ability of being able to lock or unlock the door with the key, not good if you ever have a flat battery with the doors locked.