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There is a multi-purpose chime built into the GEM module for the key, headlight, airbag, all of the door latches including the lift gate, the glass, and for the seat belt buckle. The GEM module is just forward of the driver's left knee, above the fuse panel.
If you have the parking aid, its speaker should be in the rear, so that should be easy to isolate.
I'm going to go with AzPatMan's suggestion that its a door (or liftgate glass) switch that is getting briefly actuated when the truck goes over a hard bump. I'd check all of the doors and glass to see if there might be excessive play in the latch mechanism such that it might allow the switch to be momentarily activated when the speed bump is hit. It might be such a momentary change in the switch's state that the cluster "Door Ajar" lamp might not have enough time to be turned on.
Rezvani's Latest Post-Apocalyptic Monster Is a Ford F-150 Raptor Underneath
Slideshow: Called the Fortress, the 850-horsepower pickup combines Raptor underpinnings with military-inspired features, survival equipment, and a starting price of $285,000.