I have a 2002 dodge grand caravan and am trying to

Yes no problem.

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you can get guide from many sites.. i know few
like reliable-store
error codes/ fault codes, wiring diagrams, schematic diagrams, torque specs, engine info, switches functioning, assemble, disassembly, complete refurbish, repair, installation every single thing is covered
within seconds u can get the access and it's totally illustrative complete

Look around crankshaft pulley there should be a electrical plug I think 3 wire in our around area if you have access to a lift you can get to it easier.

The crankshaft position sensor mounts to the engine block behind the alternator near the oil filter.

If you drove it to the dealer, the crankshaft sensor was not bad... Find another repair shop.

From what I've read it seems a faulty crankshaft position sensor circuit can also cause this problem
Need to check for opens or shorts in the circuit.
This is a forum I read on it:
http://dodgeforum.com/forum/dodge-caravan/240435-please-help-p0725-speed-input-circuit-malfunction.html

po 1391 is crankshaft sensor or cam sensor change crankshaft sensor

That's normal so you can see your way out of the car....security system

check the motor motor mounts for movement,
watch how far engine rocks forward or back with it running and foot on brake

First check brake fluid. If this is ok, one of the ABS sensors are giving a bad reading to the brake force distribution.