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What it sounds like is you Body Electrical Control Module (BECM) is acting up.
First you can try to disconnect both of the battery cables and hold them together for 15 seconds. This will help reset the module if you do not have a scanner. Reconnect the battery cables back up and see if it helped. When holding the cable ends together do not have it touching the battery at all. Only have the battery ends touching.
If it does not help then you need to check the relays inside the junction box to make sure the connections are good, and you can switch the relays around as long as they are a relay that is working and has the same part number.
Then if the relays are ok check the connection at BECM, if it only does it once in a while it sounds like it is a bad ground or a loose connection.
Now if the fuses are ok, the relays are ok, the reset did not work, or the connections are good, you need to check the pins inside the module for power, if no power for each of the items not working this means the module is bad and will need to be replaced.
Here is the location of it for you to check the connections out.