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If the plastic gear is damaged, get a kit like this one (pay attention because there are 2 different kits: one for "97 to early 2000" and another for "late 2000 to 2004") and follow these step-by-step directions. You'll save money and they will last forever.
It would be wise to replace as well the rubber bump stops in both sides (#4 in diagram below). You can get them here.
There is a TSB, that calls for shimming the driver's side motor. The parts needed for this are included in the above mentioned kit (#2 in diagram below).