Door ajar light does not turn off

This is common when one of the door latches is bad and not closing the sensing circuit or the IPS control board is out, the best way to go on this is to do a CAN scan which is easy, this guide can help you see what needs to be done. I would say the driver's door latch may need replacement because that is the door that is used the most. I have included how to change the latch out in the diagrams below.

https://www.2carpros.com/articles/can-scan-controller-area-network-easy

Check out the diagrams (below). Please let us know what happens.