Success!!!
About 3 months ago the driver's door speaker in my 04 Explorer XLT stopped working and about 2 weeks ago, while on holidays, I started getting the dreaded "door ajar" message, along with the interior lights staying on and all the other related problems.
I tried the WD40 fix, but no luck.
Today I got my shop manual out and took the door panel off, which was a lot easier than I thought it would be. Took the foam pad off, checked all the wires and connections and they all looked fine.
I spliced a short length of wire into the larger black wire that goes to the door latch mechanism, and then grounded it on one of the nearby door screws.
The "door ajar" message and related problems were fixed. The ground wire must be broken or chafed somewhere further along, but too big and long of a job to try to find it.
Took the door speaker out - problem seemed to be in the connector at then end of the wires. Tried some contact cleaner but didn't fix the problem. Cut the connector off, attached some spade connectors that fit onto the pins on the speaker, to the ends of the wires, plugged them in and had sound.
I took my time as I am far from a mechanic - total time, less than an hour and what a difference having the door speaker working again makes in the sound.
Thanks to all those who posted suggestions and solutions and helped give me the courage to get in there and fix it myself rather than pay a dealer
100s of $$$