Hopefully it's not the wiring harness like my '01. Some 2nd Gen Rodeos have issues with harness, although it is uncommon. I assumed you checked and cleaned all the connections. It's easy to pop off the rear plastic door panel. Just reseal the plastic liner well when your done checking things.

Pete

'01 Rodeo Sport, 5 Speed Softie, Indy 4X rocker bars, OME 912's, Rancho 9000X's, Superwinch hubs, custom tube bumper with Warn 9000i , Flowmaster 50, TeraLow t-case gears, ARB front & rear lockers, TrXus MT's, Sway bar disconnects