I've removed the window runs, cleaned, lubed, and replaced without removing the door panels. It's been a while since I completely removed, now I just clean and lube in place. The process I used to intall was something like this:
Lower windows all the way.
Push runs down each side as far as...
You could try cleaning and lubing the window runs before throwing a bunch of money at the problem. If the runs haven't been cleaned in the last 25 years they are probably filthy. I clean mine every year or so with Clorox wipes and then lube with 3M silicone paste. The windows aren't the fastest...