OK, here is how you do it. You break it, unless you are lucky. On the end of the linkage there is a pin. On this pin is a nylon bushing that flares at the end, so it is press fitted in. Reach your hand to the end of the linkage, and pull away from the latch. The piece should pop out with force. However, the plastic flares can break, but these are still an obtainable toyota/sor part. If you don't want to risk it, undo the two phillip screws on the upper part of the inside of the door, above the striker. Then you can unscrew the entire pin assembly off of the linkage by hand.
I hate fj55 door internals. They make me spit and yell vulgar things. Every single one of my doors has had needed work on the internals. Watch out for spiders up in there.