Battery died after experancing power door didn't close fully...

Bad latch, bad wiring, sometimes it is the BCM. Latches are the most common to die.

Open the inside panel of the door by popping off the little white clips holding it on. The cable connected to the inside release button is either caught on something or has come lose. Check out this video - https://www.youtube.com/watch?v=MkC2OiOiE_U

Chances are its a door switch or the wiring close to it. the wires bend every time you open and close the door. Check for that but if your dead set on a relay. look under the hood you should find a relay panel on the left(drivers side) finder well. On the cover of the panel box will be a listing and placement for all the relays

this problem can only be diagnos bya a dealer specific scan tool, so they can go into a body computer and run a check, there a presure sensitive switches, but before you going into any dealer make sure all seals are clean of soda, coffe or any spills, also at point of contact with body,
One more thing hope this will help you: close all doors unlocked and remove your negative cable from battery, live it off couple minutes....reconec then turn on power door swith and press open door switch and hold it until door opens completly, then press to close it and hold switch until door is completly close, reset done Good Luck hope this help,

Try this... it fixed my problem whereby the 2005 Toyota Sienna passenger sliding door would sometimes open and sometimes not, yet I could hear the motor trying to open/close it. It cost me 20 minutes and 10 drops of oil, not $1200.

First, get the door open. It took me two weeks of constant trying, but it finally opened.

Next, remove the plastic covering of the inside door handle this way: locate the two screws on the forward edge of the sliding door near the child-safety switch: (the switch is a small lever near the door latch, on the forward edge of the door) loosen and remove the two phillips screws, one above the child-safety latch, and one below.

Remove the plastic cover to expose the gears for the door open/close mechanism.

There's a bunch of intricate plastic and metal parts in there, all coated with white grease. I used some 3-n-1 oil to lubricate everything in there thoroughly, In my case, there was one part that was a little void of grease, hence it "stuck" occasionally.

Test the system. If it's Okay, replace the plastic cover, and re-install the screws.

Now my Toyota Sienna 2005 door never fails to open or close.

This may or may not work depending on exactly what is wrong with the door, I cant tell what is wrong without looking at it directly however:
You can try starting with all doors closed and unlocked, keys in hand disconnecting the battery and letting the vehicle sit for 2 min or so, then reconnect the battery. Put the key into the ignition and turn it to the on position but do not start the van. Next press the button to disable the power sliding door for the drivers side, then manually open the door fully, wait 5 seconds, then close it manually fully. Press button the button again to re-enable the power sliding door, then try to use it with the automatic feature either by pulling the handle or using your remote, this may or may not work depending on if the door has somehow become de-initialized (it should work now) however if something is broken inside the door closing mechanism or door closed/open sensors, the door will continue to malfunction.

follow this to reinitialize
1. Push the “MAIN” power switch to the “OFF” position.
The “MAIN” power switch is located on the instrument panel, left of the
steering column.
2. Confirm doors are closed, lights are OFF, and the key is out of the ignition.
3. Disconnect the negative (–) battery terminal and wait 60 seconds.
4. Reconnect the negative (–) battery terminal.
5. Push the “MAIN” power switch to the “ON” position and wait 3 seconds.
6. Push the “DOOR R” switch to open the right door and wait 3 seconds after the door
is completely opened.
7. Push the “DOOR R” switch to close the right door and wait 3 seconds after the door
is completely closed.
8. Push the “DOOR R” switch to open the right door and wait 3 seconds after the door
is completely opened.
9. Push the “DOOR R” switch to close the right door and wait 3 seconds after the door
is completely closed.
10. Push the “DOOR L” switch to open the left door and wait 3 seconds after the door is
completely opened.
11. Push the “DOOR L” switch to close the left door and wait 3 seconds after the door is
completely closed.
12. Push the “DOOR L” switch to open the left door and wait 3 seconds after the door is
completely opened.
13. Push the “DOOR L” switch to close the left door and wait for the door to
completely close.
With ignition in the “ON” position and both power sliding doors in the fully closed
position, the “PWR DOOR” indicator on the dash should NOT illuminate.
14. Confirm proper operation of both doors using the dash, B-pillar switches, and the
transmitter button

just remove the door panel its pretty simple once you are in door panel you will see the motor.the door panel is held on by either screws or plastic push ins..there little plastiv pins that expand after they are in hole

DO NOT PUSH IT!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
1. turn off the power button for the power sliding doors located on the lower dash area.
(in for on out for off)
2. close the sliding doors
3. disconect the battery and wait 1 minute.
4. reconect the battery, turn on the power switch
5. use one of the door control buttons open and close the door this should reset the door.

If this fails to get it working i'm sorry but you will need to take it to a dealer.
and most likly it will need a new drive $3000 aproxmatly. it can not be serviced

Its probably the motor reverse cycle going out.yes, you can repair it yourself, but alot easier to have a mechanic do it. It could be a headache . Good luck. Hope this helps.