You probably have a bad door switch that is located in the door latch.If the vehicle tells you which door is ajar I would try a good penetrating oil first and if not replace that door latch.It will take a bit of working the latch before it will start to work if thats all it is so have some patients with it.
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Thanks to goalie39 I tried spraying the door latches with WD-40 and it seems to be working. The running board has stopped going in and out, and the mirror lights have gone off.
Thanks goalie39!
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