If the lights are on and the door is ajar it will make a steady alarm.
Each door has an ajar sensor. Disconnect it and see if it works. If it does not work, just unplug the ajar alarm, which is a small black box, from the panel to disable it.
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Ajar is the term for a door that is slightly open.
The "Door Ajar" warning means your door is not shut all the way.
The door ajar switch is part of the latch, inside the door.
Better than disconnecting that most irritating noise, you can easily fix the cause of it going off.The "Related Questions" below has a great round-up of ways to deal with the false door-ajar signals...
On my 2002 sportage 2-door, the door ajar light stays on when the tailgate is not locked. with the key.
When it is a jar (ajar).
A door is not a door when it's 'ajar'...
The door ajar switches are inside the doors mounted on the backside of the door latches
The door ajar switch is built inside the door latch.