it could be the rotors
I did not think the Windstar came with *front* drum brakes (assuming the question is referring to brakes)...There are instructions for changing front disc brakes and rear drum brakes in the "Related Questions" below
rear brakes need adjustment srar wheel froozen
This is probably due to worn brake rotors on the brakes, if there is no vibration when driving then this will be the cause.
For the brakes, check for warped rotors. For the turning, check for worn CV joints.
If you only did the front brakes, the problem may be in the rear brakes.
vacuum leak
You start by adjusting the rear brakes after you have inspected them.
abs 2003 windstar abs senor location
It depends on the type of brakes, labor and brake pads used. This shouldn't cost more than $150-$200.
auto braking system they don't stop , they sort of vibrate so you don't skid.
Yes, all modern rear brakes are designed to be self-adjusting. See "Related Questions" below for more
your rotors on the front are warped. they need to be turned or replaced.