To add to that previous question the door key light and interior lights come on without the car running or the keys in it

SOURCE: message says "door ajar" but no door open

There are 2 things we see on these models. 1st one is it could be a stuck door adjar switch. For this you can try and put WD40 into the latch on the side of the door, put a generous amount directly into the latch then close and open the door several times.This will un-stick a switch most of the time.
2nd thing it could be, open the door and look at the front of the opening between door and A pillar and you will see a black rubber accordian tube running between body and door,this is where the wires run from body to door. Sometimes a wire will break inside this.You can usually verify this by taking a screwdiver and trip the latch so that it shows the door closed(even though u have it open) then wiggle that harness and see if it effects the door adjar light.

SOURCE: 2004 chevy siverado interior lights not working

If your problem is in all doors I'm probably wrong :)

But..you may find that an inner door jamb spring loaded switch has failed. It works exactly like the one in your fridge does, It triggers power to the light when the spring is out ,.. sometimes it gets stuck in you might just be able to clean and loosen it up.

SOURCE: toyota sienna interior lights not working

The problem is in the sunvisor light. You will have to take the light assembly off and you will find wires have become disconnected.

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