17 years old might be part of the problem especially if there are rust issues.
Frame flex is absolutely normal and a few vehicles are actually built to accomodate that, but not most main stream half tons. Wranglers, Rubicons, the JT, the PowerWagon are all designed to flex. I have a ladder rack with a front bumper extension, I am amazed how much twist my TJR gets off road.
Heres a normal pic of frame flex and the reason most overland bodies use a 3 point mount.
Chassis flex is part of the design.
View attachment 182295
I'll have get a video of it twisting with the ladders loaded this summer.
View attachment 182294
I used to drive a grain truck and the rule crossing field was always approach ditches, swales, crest hills square on, never diagonally or you would break the frame or suspension. We were always overloaded.
But I'd say your issue of a binding door is age and corrosion related.