The clip that's now expired saw Sarah driving around with a friend, passing another driver in the car next to them.
Many fans were pretty angry after they saw the clip, taking to Twitter to criticise Sarah.
"@Sarah_Hyland really? Filming people in their car and mocking them? You’re an a**hole," one fan wrote.
Some fans came to Sarah's defence, after seeing that the car didn't have a door handle.
"It's obvious she was talking about the car Handle becouse it was missing!!! That's why she asked how she gets in the car!" Another fan wrote.
After the backlash, Sarah took to her Instagram stories again to clear the air.
In a series of videos she explained that she definitely wasn't making fun of the woman at all, saying, “If you noticed, the car didn’t have a car handle. That’s why I was questioning how she got in the car or not. It didn’t have a handle.”
She posted another video of herself rolling her eyes, saying, “everyone takes things so personally these days.”
Although that seemed to clear things up, some fans were still annoyed that Sarah filmed a person without their consent.