I have about the same problem, only mine don't rattle they almost like creak when they are down. About three of mine do it as well, so any help would be greatly appreciated! It is starting to drive me nuts!
yes I would pull the door panels and maybe invest in new/tighter window seals... You may even be able to adjust the stock ones, but do not make them too tight because they can cause scratches if dirt gets trapped.
I had this problem on my drivers side window. There is a gasket like molding that the window goes in between when you roll it up and down. Well my window popped out of the crease of the molding when I got pissed and slammed the door. I took the inner door panel off and used a small screwdriver to hold the gasket open and then powered the window up at the same time and it went back together.