You might want to check the voltage being fed to the window motors, and you may want to make sure the window guides are aligned properly. It could possibly be an aging window motor, but check the tracks first. Were the doors ever hit in an accident?
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1998 Ford Windstar GL 3.8L 253,100 miles
2005 Toyota Prius Package 6 1.5L 135,000 miles
2006 Toyota Sienna LE 3.3L 36,000 miles
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