spray foam or some sort of 2 part expandable close cell foam. might work. it would fill in the entire void. the only issue, is applying to much foam. and causing the panels to bulge out.
That's not the only issue.
In the 80's, conversion van companies tried spray foam inside the doors on their vans.
The practice was discontinued after a year or so, when it was discovered the foam caused the doors to rot out.