Yes a dealership can cut a new key, but they are going to look up the key code for your VIN and then can cut keys for the doors but they won't be in a position to rekey your ignition lock cylinder to match... unless you find that one guy in 10 that knows and wants to bother. Ford does sell an ignition cylinder kit that includes the various pin sizes to rekey it to the factory key code.
Otherwise, the way I'd look at it is, you have 6 locks, ignition, 4 doors, and liftgate. DIY, It would take less work to only have to rekey the ignition instead of all 5 others, except you don't have the key for them so would have to pay a ford dealership shop to get at least one anyway, then that cylinder kit to DIY, and either the dealership, or a shop, or yourself using Forscan app, can program the new ignition key (OR just swap the chip in the existing key to the new key but this only leaves you with one programmed key so if you ever want a 2nd key, would have to do one of the former options anyway until you have 2 working unique key chip IDs to be able to program more using the method in the owner's manual).
I'd at least ask a locksmith what they think is the best option and get an estimate but I suspect it's going to be a lot to pay for a 24 y/o vehicle, to have someone else do the work.