As ignorant as I am, why is a transmission fluid change so complicated. An engine oil change is so easy compared to a transmission service.

The door ajar indicator comes on when the vehicle's system detects that one of the doors (in this case, the rear door) is not closed securely. How can I temporarily disable it?

Late answer,, but if you're still having problems.... This often occurs after a battery change. (Touching the battery terminal with a battery lead in a tapping motion, can cause an electrical glitch.)   Try disconnecting the negative battery terminal for 10 minutes. This often clears temporary electrical faults and allows the module to reboot.   If that doesn't work, try a manual recalibration. The procedure is in your owners manual.  

Me too! What I want to know is: Has anyone that has a state required exhaust gas check required ever had their Edge rejected for out of tolerance levels?

Just received another recall notice for this 24E10 recall.  Does anyone have any positive information to report AFTER having this recall performed?  

So, whats wrong with Motorcraft? Don't like to smooth, comfy ride?

Bad or worn out transmission fluid can cause this problem, but as you stated,, you just had the fluid and filter changed and that eliminates that possibly.    But there's also another possibility, and its a well known and well documented issue that's directly traceable to the vehicle's 8F35 transmission (and isn't fixed with transmission service.)   Ford released a TSB for the 2019 model year (through 2021 or 2022 I believe) where the car jerks at low speeds in the first shift. (It doesn't do it after 35 mph). The fix is painless and simply involves reprogramming the software for the PCM. (It updates the  transmission solenoid shift  strategy, i believe.)   Visit your local Ford Dealer and ask for a diagnostic scan,  specifically checking for TSB updates & transmission solenoid strategy updates.    While you're there, have them also check for a recall on your car (NHTSA 20V-550) which checks for loose bolts on the start/stop accumulator. If not fixed, it can cause fluid leaks and eventually transmission failure.   Can't speculate on the cost, but they "may" be covered under the New Vehicle Limited Warranty (or an ESP).

I was looking forward to find a resolution on this post.  Sadly, nobody has reported the issue as solved.  I had the transmission serviced, changed the air filter, changed the sparkplugs recently and had the fuel injectors cleaned.  Still, the jerking continues when the transmission does the first shift and forward,  at constant speed and highway speeds does not happen.  I am suspecting it having to do with the transmission somehow. I bought mine (2019 SEL 2.0) with 14000 miles and the jerking started at around 50K miles.  It has now reached 90K. I don't know what else to try.  I kind of got used to it and I love the way it drives, but I would like to have this fixed to have the perfect car. If anybody happens to get results with something, please share.   

I'm sure everything is fine. Most people don't even read the FSM, don't know about the full +1L and just do a drain and fill.    Smoothness on decel is one thing I've noticed as well. I also had a slight vibration at idle depending on what RPM the vehicle was idling at. That appears to have gone away now or is deceased after the drain/fill/+1L. 

@taurussvt Do you have a part number for the kit you bought that fit?  Did you change the tire to match the diameter of the other tires?