You will need to remove the rear wheels to gain access to the adjusting stars for the park brake, work thru the lug nut opening. Get a small flashlight to illuminate. I believe the alignment for seeing the stars is either 1 o'clock or 11 o'clock position. You will be able to see them with your flashlight.
2000 Dodge Grand Caravan SE
No matter what you fix, there will always be something else to fix..
"Warranty" is just another way of postponing the inevitable.