His sig says 2022 Sienna so yes, should definitely be under warranty.
I would be willing to bet when they installed the hatch garnish they knocked one of the clips off the garnish and just didnt realize it.
Yes, you can take it to the dealer and get them to pull the garnish and fix it, or you can do it yourself.
Personally I hate dealers and find they butcher stuff bad when it comes to panel removal so I would do it myself but if you're not comfortable doing it, then the dealer is the way to go.
Have a look at this video around the 5:45 mark and you can see the garnish coming off and the white clips that hold it in place. Yes, its gen 3, but it gives you an idea of how they come off. You may actually have to remove the left and right trim pieces first before removing the larger lower one depending on overlap of a gen 4, but it wont be hugely different.
And yes, possibly some bolts holding the handles as well.
There should be nothing structural about the garnish at all, its basically just cosmetic cover up.