I have had this problem once before. I solved it by resetting the "automatic locks" setting on the overhead console...first turned this off and then turned it back on a day later and the locks worked again fine.
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All doors lock automatically when the vehicle speed reaches 15 MPH (24 km/h).
? All doors unlock automatically when the ignition is placed in the OFF position.
The automatic unlock function can be deactivated or activated. To deactivate or activate the automatic door unlock system, perform the following procedure: 1. Close all doors.
2. Place the ignition switch in the ON position.
Within 20 seconds of performing Step 2, push and hold the power door lock switch to the position (UNLOCK) for more
than 5 seconds.
4. When activated, the hazard indicator will flash twice. When deactivated, the hazard indicator will flash once.
5. The ignition switch must be placed in the OFF and ON position again between each setting change.
When the automatic door unlock system is deactivated, the doors do not unlock when the ignition switch is placed in the OFF position. To unlock the door manually, use the inside lock knob or the power door lock switch (driver's or front passenger's side). NOTE: The automatic door unlock function can be changed using the Vehicle Settings in the vehicle information
Ignition Lock Cylinder Control Actuator
The vehicle it is equipped with a floor mounted console gear shifter, and has a ignition lock cylinder control actuator system in the steering column as an added safety feature. The ignition lock cylinder control actuator systems purpose is to prevent the steering wheel from being locked when the transmission is in gear and the vehicle may still be moving. The ignition lock cylinder control actuator system consists of the BCM, the lock cylinder relay, and the ignition lock cylinder control actuator. The ignition lock cylinder control actuator contains a pin that is spring loaded out to mechanically prevent the ignition key cylinder from being turned to the lock position when vehicle speed is above 5 mph for 15 seconds and the transmission is not in the Park position. If vehicle power is lost, and/or the transmission is not in the Park position the operator will not be able to turn the ignition key to the lock position and will not be able to remove the ignition key from the column. For situations where the vehicle must be towed, the system can be overridden by pressing a release button that is reached through an access hole located on the under side of the steering column. First, remove the black plug covering the hole.
I am not exactly Positive, Did it always lock doors as soon as you put it in Drive or only after reaching 5-10 MPH? my experiences have always been with vehicles that only lock after reaching a specific MPH, Usually under 15 MPH.
ford puts a little switch in the door handle accessible only after the door panel is removed.dealer only part as far as i know...hope you have small hands and patience.removing the torx bits that hold the latch helps but note the actuator rods position(s).these bend easily.most switches are color coded,if you can find its connector ,.you can unplug it but this disables the dome lamp.
There is a broken wire in the rubber casing between the door and the vehicle. Take the rubber casing off and you will more than likely find a broken wire or one about to break. Been there and done that.