Is there a fuse that would control the power mirrors/the auto-lock mechanisim and cause the door ajar light to come on? And if so, which one?

fuse diagram for Ford escape

https://ricksfreeautorepairadvice.com/2006-ford-escape-fuse-diagrams/

Your best bet would be to find a Tech like this guy , with the right diagnostic equiment . Door Locks Go Crazy 1 Unless you know how to do automotive electrical testing . Your door ajar switch is a input to a body control module . or GEM as ford calls thiers .
Door Locks Go Crazy 2 Your auto lights are controlled pretty much the same .
Electric Testing Techniques You Need to Know

Do you know what DTC"S are ? diagnostic trouble codes ! You probably have a door ajar switch problem . You need a factory or professional type scan tool to check these codes
B1322 Door Ajar Driver Circuit Short to Ground GEM/CTM REFER to Section 417-02 . B1323 Door Ajar Lamp Circuit Failure GEM/CTM REFER to Section 413-01 . B1325 Door Ajar Lamp Circuit Short to Battery GEM/CTM REFER to Section 413-01 . B1330 Door Ajar RF Circuit Short to Ground GEM/CTM REFER to Section 417-02 . B1334 Decklid Ajar Rear Door Circuit Short to Ground GEM/CTM REFER to Section 417-02 . B1338 RR Door Ajar Circuit Short to Ground GEM/CTM REFER to Section 417-02 . B1340 Chime Input Request Circuit Short to Ground GEM/CTM GO to Pinpoint Test C .

• The Autolamps Are On Continuously

• Circuitry.
• Headlamp relay.
• Light sensor amplifier.

• Go To Pinpoint Test H .

• The Autolamp Time Delay Is Inoperative

• Fuse(s).
• Light sensor amplifier.
• Headlamp switch.
• Circuitry.

• VERIFY parking lamp operation. If OK, REPLACE the light sensor amplifier. If any parking lamp concerns exist, Parking, Rear and License Lamps REFER to Parking, Rear or License Lamps.

Do you see how complex these systems can be for someone that doesn't deal with these problems on a daily base's ! Check for codes an if there are any , doing the diagnostic's associated with it . Without doing the diagnostic's you could replace parts all day long an not fix the problem .
2002 2005 Ford Explorer Door Ajar Light Common Door Wiring Faults

Usually it is in the drivers window controller.There is a module that usually goes bad.

This is not a good thing. Ford uses a computer called the GEM and that means General Electronics Module. It controls:

• Low Coolant Indicator On Cluster
• Brake Indicator on Cluster
• DRL - Control
• Wipers
• AutoLamps
• Rear Defrost
• Interior Lamps(dome)
• High Beam Indicator only (cluster)
• Low Coolant indicator
• Key-in Buzzer
• Seatbelt indicator only (Cluster)
• Trunk Pop Relay
• Power Locks
• Door Ajar Sensors
• Door Keyless entry pad
• Remote Keyless Entry
• One Touch Down (power window)
• Air Bag Tone
• Anti Theft (perimeter Alarm) (SEL, or SE(s) with mods)
• Lift gate ajar (wagon)
• Liftgate Pop
• Accessory Delay signal (accessory that work after engine off, prior to door ajar)
• Battery Saver Relay signal (accessory that work after engine off, 15 mins) Map lights, vanity mirrors

They are located behind the radio in the dash and they are $$$ about 600 USD.

go to www.reliable-store.com you will get
all info and solutions there definitely

If the door contact switch is broken or jammed, the ajar indicator will stay lit. This will also prevent the door locks from locking as a safety precaution to make sure you don't accidentally lock yourself out of the vehicle. Check the door contact switch first.

If only the door ajar light and interior light is not working it is probably the door ajar switch located on the door latch inside the door. sometimes a little WD40 sprayed towards lower side of the latch will work, frees the piston in the switch. if not the switch must be replaced. If also the outside mirror control does not work, the door lock switch also does not work, it is a bad ground to those three systems, the Electric windows have a separate ground wire and still work. You must feed a new black wire from a good ground on the body thru the door accordion tube and connect it to the larger black wire on the plug that goes to the door lock switch. The door lock, the mirror control, the door ajar light, and the interior light problem will be gone.

I have the same problem only now the door won't register that it is even closing! So I have to drive with the door ajar light on, and the inside lights stay on too unless I turn off all the paneling lights. I am not sure what is going on. But I am taking it into the shop on Monday to find out what is going on. I could handle not having my controls on the driver side, but this door thing is wigging me out! Hope you get yours fixed

Have you found any evidence of mice, turds or nests? Mice love dormant vehicles, although they usually move into the heater box. MIce love to eat the insulation off of wires. A bare wire could cause the door ajar to stay on, and may have burned the timer out of your auto lights. Have you checked the battery in the key fob? Sometimes you can just clean the battery and contacts. You have two fuse boxes one inside and one under the hood, the one under the hood also has relays in it and you want to check those out to. You may have one stuck on or inoperative. Look at the wiring harness all over for a poor ground connections. Poor ground can cause power to back feed through other components, making them suspect when the problem is elsewhere. Good luck, CB

I'm pretty sure that they are integral to the door lock assembly on that model, would need to replace the whole door lock if that is the case. Best to get the Ford dealer to plug in their computer and check the signals from the door locks to see which one is at fault. Check central locking and power mirror fuses first, if no power to door locks then the door ajar sensors will have no power as well.