The passenger door won't close correctly and when I do get it closed the light underneath the desk by the floor and the light on the door wont go until about 20 or 30 minutes later

SOURCE: DOOR LOCKS(POWER)

your linkage has come off in side the door

SOURCE: Automatic Doors

I found out that the auto sliding doors are just like garage doors.... need lubed, connectors in door jamb cleaned and sprayed with silicone lube and sometimes an ajustment for tension- dealer item.... I took mine to a dealer and drove out 30 min later.... hope this helps.

SOURCE: Tailgate door won't close

does this van have a button to open the back door? if it does push just like you are opening it and it should unlock itself

SOURCE: 2003 Explorer door ajar light stay on when all doors are closed

I had this problem on my 2003 explorer and took WD40 and gave the lock mechanism a good dose where it meets the clasp on the door jam. Then open and close the doors a couple of times to get them working. They get gummed up and sometimes have a tendency to stick.

SOURCE: 3rd door on ford f150 will not open

There was something in the paper, maybe a recall on the latch for the 3rd door. There is a clip inside the door that keeps the lockrod in place. You might want to call the dealer about it. I am not sure you can remove the inside panel without having the door open.