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If you try latching the latch with the door open- just use a screwdriver and slide it in the latch the same way the door striker would go in- see if you can get the finger of the latch to rotate all the way back to where the second latching point is.
It's possible you may have to remove the door trim panel, and remove the latch in order to work on it. I have seen issues with the spring popping off the finger (which may even get in the way of the finger moving a that point) but would also not hold tension on it to allow it to latch tight.
I'm just talking about latching the latch without closing the door, so you can see the finger rotate. Thnk if the striker bar on the body, you just want some kind of rod that is that thick or thinner to push on the rotating finger (so it can go into the slot for the striker)
Is it possible that your striker bolts have come loose, and it has slid "inward" toward the interior? You could try loosening the bolts and see if you can slide the striker outward and retighten.
Does it feel like it is hitting something solid on the latch side of the door, or could it be that your hinges have something catching in them and stopping the door from closing fully? Also, your door isn't sagging at all, if you close it slowly and watch the latch does it line up well with the striker?
Loosen the bolts on the striker, and see if it can be adjusted outward further, then retighten.
Outward- toward the door, so it goes deeper into the latch when closing.