I'm getting the same thing/similar on a 2016 4WD XLT. It started very soon after I brought it home brand new and I put off going for warranty work because I assumed it would be a simply switch of the sensor or some easy/known issue that the dealer would swiftly repair. Of course, that last part hasn't happened.
I called the same service writer for the third time today after a second visit on this issue. He's flm flam all the way, promising they'll figure it out. He's trying to blame the tire now.
Same wheel, intermittent on off with the dash warning. Sometimes multiple times on and off in the same trip. Sometimes no warning for days or even a week. At one point I thought it was whenever I rolled down the window or hit the turn signal because it seemed to coincide with that activity all the time, but then some of the time it "just happnes" (of course those times it "just happens" could be the transmission shifting or some other electronic switch happening, so maybe my theory is correct about it being something electronically failing or short circuiting with another system).
I'm so disappointed in the service department's handling of all this. I've had some bad dealer service experience over the years but the place I'm taking my Explorer to for this really fails hard at exhibiting anything like confidence, professionalism, or product knowledge.
Maybe I'll get a set of warranty tires out of it before they figure out it's something in the system!? ;-)