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Sounds like your hinge pins are wearing out. You can get a hing pin and bushing set either at the dealer or any auto parts store. You'll need a jack and a block of wood, or some rubber matting to protect the door. Open the door and place the jack under the door and raise the jack just enough to support the door. Using a hammer, I use a brass hammer but a steal hammer will work, drive the hinge pins out one at a time. With the hinge pin driven out you'll be able to see the wear in the hinge plate, then you install the bushings required to " realign" the pin holes and then reinstall the hinge pin. Sometimes the holes are badly elongated and on the later models were the hinge is welded I remove the door and build the wear area with a wire welder. The bushing method usually works well for most. Good luck I hope this helps.
Take a good look at the door hinges. Often, there will be replaceable bronze bushing inserts in the hinges, and the hinge pins are also prone to wear, especially if the recommended lubrication is not done.
If the bushings and/or pins are not replaceable and the wear is in the hinges, the hinges willl need to be replaced.
Other possible causes are loose hinge mounting fasteners, failure of the door or "A" pillar (for front doors) at the hinge mounting location(s) due to rust or physical damage, and (of course) collision damage to the door or door frame.
The hardest part is going to be to reinstall the spring on the lower hinge arm. this is not a screw but rather a pin. There are two hinges that hold the door to body. when the upper and lower pins are removed the door will come away from body, it is important that before you remove the pins you take a look at the hinges. Pay close att. to the way the hinges sit inside each other and the way the pins go in. see if they go from top to bottom or from bottom to top. also note where the copper bushings sit in hinges. each hinge has one pin and two copper bushings top go into hinge. Over time the pins and bushings wear out ,making door hard to open and close. When the pins and bushings get so bad that the bushing is worn out and then the pins are now wearing into the hinge hole itself then this get tricky. if hinge hole is egg shaped the new bushings will not last. the door will hang again in a few weeks. this is where is get costly, the hinges now need replacing. i have gotten good at welding the holes and filing them back to shape but this takes skill or hole will be wrong and bushing will not fit or line up.
Here is a youtube video to help you. Take note. put jack stands under door with cloth to avoid scratching door.this is to hold door when pins are removed. have somone help you, they will hold door on stands. the wires will still run through door, pull door away from body a little to allow room to work.remove the spring, it will fall out as you remove pins, remove old bushings, clean hinge area and holes,next install new bushings, apply lube to holes for pins and on bushings, slide door back on frame hinges and install pins, next slide lock washers on pins to hold pins. last is the spring. you will need a spring tool, you may rent one at auto parts store. hope this helps good day.
Which door is it ? If it is a front door, then it may be the hinge pin bushing that needs replacing. These can be bought at any auto parts store. Get the pin and bushing set because the hinge pin will need to be ground off to remove it. Press the new bushings in with pliers and insert the new pin from the top
My guess is that the hinge clips are broken - it's hard to see how it works after the clips are broken off. I purchased and installed a replacement hinge from Myswedishparts.com. I emailed asking for help and they provided direction, but it's pretty easy. Use a small punch to drive the centers out of the plastic attachement pins to get the old hinge off. Replace the hinge, press the center pins in and re-attach the door. There was a drawing on the referenced web site when I replaced mine, but I just looked and didn't see it. I'm sure there are many places to purchase the replacement hinge - that's just where I bought mine.