Hi there
I have a 1999 windstar and to adjust the sliding doors there is one hinge you can adjust at the top of the door and one at the bottom of the door. If you open the sliding door and look towards the inside of the door at the top there are 2 nuts you can open and tighten to move the door in and out. Just open these and adjust the door and tighten them again. Be careful with these nuts when you are tightening them i overtightened them and the screw which is rivited into the hinge broke so I had to drill out the rivets and had to go buy random screws and bolts to fix that problem.
For the bottom there is only 1 nut you can open and move the door in and out. If you openn the sliding door and look down you will see one nut you can adjust.
There are 3 bolts in the door to adjust the door up and down but i dont think you will need to adjust these.
I am surprised your 2001 sliding doors still rattle since I have a 1999 and my doors have been rattling since I bought the van new in 1999. The dealer could never fix the problem. My sliding door even stick out half of an inch another problem they resolves on the 2001.
The strikers which are those black plastic things on the frame where the sliding door sits on when closed are the reason for your rattling so you might need to adjust those.