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I get the door ajar issue also but ONLY in the winter time when its really cold out. It tends to mostly happen when I go over bumps. This winter it got to the point that I just pulled out the bulbs in the overhead light so that I didn't look like a complete idiot while driving down the road.
WD-40 didn't do anything for me but I'm going to bookmark this post so I can figure out which door is causing the issue this coming winter.
First off for the 2003 there is no GEM, so don't waste your time you just have a fuse box and a security module on the lower left right internal seating area PAssenger fender well. Secondly don't just spray the WD40 really work the doors open and close several time with some force as you are spraying them , you will need to do this to every door and both of the rear door and rear window. If doing it this way does not work it is likely the door switch on the drivers door is bad or the rear window as they are the most used
I have a 2001 Excursion with all the same problems that everyone mentioned above, electric door locks won't open or lock properly and the door ajar light is consistently on (I have not tried WD-40, but I will) and my reverse sensor alarm isn't working. My question is, is a module, that controls all of these that might be going out since they all have started to give me problems at the same time? Can anyone help?
With issues like the door ajar, the problem is almost always a sticky switch in the latch. The first thing you need to do is get a wiring diagram for your year and model. Then you can use a multimeter to figure out which switch on which door is giving you the issue.
Once this is done you can flood the latch with lots of WD40 but i recommend taking the door panel off so you can get at more of the assembly. Spray it liberally into every crack and cranny you can find in the assembly. After flooding it good you will need to vigorously work the door assembly to work the WD into the parts. After a short stint of opening and closing the door hopefully it will start working properly.
If you are able to get it working properly with just the WD then I would recommend cleaning out the WD with contact cleaner and using a spray in dry lubricant. WD will collect dust and dirt over time and your problem will return.
If you are unable to get it working verify the switch operation with a multimeter inside the door by carefully pushing the multimeter leads into the wire insulation. If you have verified that the switch is truly still not working properly then you need to make a trip to get a new latch assembly.
The whole key is in isolating the problematic door latch. If they all test good then you can start looking for wiring or module issues.
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Amazed my wife with this one! 
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