I edited my last post, do that a lot within the first few minutes to hours after making one.
At this point I'd tackle it the other way around, hook up a scan tool capable of ford DTC codes and see what it reports for the collision system, or anything really. With the message showing, there should be a code set.
I don't have the corresponding info for a '19 and don't know if it changed between '14 and '19 but '14 is what I have, linked below, or you could get the whole workshop manual linked in my sig, or seek a '19 workshop manual. At least the DTC codes it lists, probably have not changed so might point in some direction.
I forgot that this subforum doesn't allow file attachments, here is the '14 workshop manual collision section as a PDF:
mega.nz
You might also see if a moderator will move this topic to the 5th gen forum where more fellow owners will see it. I mean the main Stock 2011 -2019 Ford Explorer Discussion, section. Maybe someone with the feature can be coaxed to crawl under their vehicle, after sufficient time to digest a lot of turkey.
My '14 doesn't have the collision avoidance besides the rear backup camera and beeping.
You may still have a hood switch problem and I don't know if that could trigger the collision avoidance message. Seems like it would make more sense for it to only trigger a hood ajar message since we know it can do that.