HI GANG
I need advice on how to fix the front drivers and passenger side window cranking assy on my 97 4dr sidekick.
sometimes. probably 2/3 of the time when I roll the windows up they are fine until the top 2 to 3 inches and then the window kind of tips forward a little and jams and you can not finish cranking it up, you then ghave to manually straighten it and crank a little more,repeat,etc.
is there a way to adjust this by taking of the front doors panels so this does not happen??? HELP!!!!

Check the window channel rubber make sure it's not missing or "bunching", and yes, you can open the door and adjust the position of the guides and whilst you're in there check the regulator itself to make sure the pivots are not binding and twisting as it approaches end of travel.

Thanks for the suggestions.
the window rubbers,etc appear to be okay with no bunching,etc.
so if I remove the door side panels I can lube and adjust the assy. that the window hand crank operates?
any other suggestions

When my windows start canting and binding as I attempt to roll them up, I pull the door panels and check to insure the regulator is snug.  If nothing is loose inside the door, I just order a replacement regulator and install it.

if you are talking about replkacing a regulator I presume you have power/electric windows???
my Suzuki has hand crank windows.

Power or manual, both mechanisms are known as regulators, they are different parts, but the name is the same.