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This problem is caused by one of the door ajar sensing switches being defective, it is a common fault in Many Ford cars and light trucks. Each door has a switch and two at the tail gate door. The switches are attached to the side of the door latch and very hard to replace, since you would most likely have to detrim at least two doors to find the bad switch the most prudent thing to do is have the dealer scan the door ajar waring system, the scan will indicate exactly which switch has the problem.
To temporarily solve the light problem, I taped a washer to the inside of the door where the door hits the plunger on the light switch. A permanent solution would be to drill a hole in the door at this spot and put a self taping screw in that will trigger the switch sooner. I figured out the reason the dome light stayed on is due to the courtesy light timer and the lights would have eventually gone off.