I purchased a 2013 Edge SEL last year and have been dealing with the "Shift to Park" and "Door Ajar" issues both. It's been very frustrating and embarrassing at times, especially when dealing with a dead battery because of it. I also live in Northern Canada where it is very cold so my battery is forced to work even harder most days. I recently found a couple posts online regarding this issue that points to an issue with the wiring harness possibly in the driver side door. My "Door Ajar" warning is a daily thing but there are times when its not as bad and some days I have to close my door multiple times before it corrects but it always corrects itself. If I drive away with the "door ajar" light on, the "Shift to Park" warning comes on. I'm going to open my door panel and check the wire and hopefully it is a loose connection or faulty harness and maybe I can finally resolve this issue. I have tried cleaning the door switch and it has not helped at all, not even temporarily.
Info I found online....
**The contact owns a 2013 Ford Edge. After starting the vehicle, the door ajar and shift into park warning indicators illuminated and the door chime indicator sounded after all of the doors were closed. The interior lights remained illuminated the entire time. The failure recurred on several occasions. The vehicle was taken to the dealer who diagnosed that the wiring harness and switch in the driver's door assembly needed to be replaced. The vehicle was not repaired. The manufacturer was made aware of the failures. The approximate failure mileage was 44,000. Updated 5/19/cn updated 7/1/2015.**
Hopefully it works itself out and maybe just maybe this will help someone else out, hence the post, especially those that have the problem reocurring after a possible fix is done by the dealer. Other than this issue I love my Edge <3