Heat on Passenger side AC on driver?
Try cycling your temp to max cold, wait a few seconds and go to max hot. There's a valve that controls flow of the coolant to the heater core near the firewall. Sometimes that valve gets stuck partially closed/open and doesn't allow coolant to fully enter the heater core. This happened to me when I had my TL years ago and cycling it a few times worked.
Yes. Not enough coolant is flowing through the heater core to fully produce heat for the cabin. Low coolant level or flow through the heater core will cause a loss of heating performance.

