We had a good freeze the past few days and when I tried to open the rear passenger door the handle popped out. It didn't break anything, it just came out. There appears to be a curved rod that hooks into the door handle but I believe that I am going to have to take out the inside door panel to fix it. Can anyone guide me in the right direction? Thanks,

 

Welcome to the forum.

Won't help this time but to prevent in the future, put some silicone on the door weatherstrips.

 

A couple of products that have been discussed in the forum for the weather strip have been...

3M's silicone paste and Dupont's Krytox
I'd avoid the silicone sprays for the obvious over spray issues, the products aren't cheap but the can of 3M will last the life time of your vehicles, and as 73Shark suggested in a post post it only needs to be done a couple to 3 times a year....
The Krytox is excellent for squeak control but is expensive but again will last a long time if used sparingly.

https://chevroletforum.com/forum/sho...ghlight=krytox


As for your door handle...
Service Information
2007 Chevrolet Tahoe - 2WD | Avalanche, Escalade, Suburban, Tahoe, Yukon (VIN C/K) Service Manual | Document ID: 1741078
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Rear Side Door Outside Handle Replacement

Preliminary Procedures
Remove the door trim panel. Refer to Rear Side Door Trim Panel Replacement .
Remove the water deflector. Refer to Rear Side Door Water Deflector Replacement .

1
Rear Side Door Outside Handle Bolt (Qty: 2)

Notice: Refer to Fastener Notice in the Preface section.

Tip

Release the outside handle rod from the lock retainer clip.
Release the lock cylinder rod from the door lock.
Remove to outside door handle with the rod attached.
Tighten 9 N·m (80 lb in)

2
Rear Side Door Outside Handle

Tip
Transfer the handle rod to the new handle.

 

Probably should have mentioned if you use spray silicone, put it on a cloth and then rub on the weatherstrip. I use silicone grease myself. Seems to last longer.