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Evidently, this is not an uncommon issue based on other reports on Explorer-specific forums. If it's out of warranty, Ford won;t do anything about it except sell you a new panel (if they still have your specific one left in stock).
The best action appears to be to take the panel to an auto upholstery shop and have them repair it.
Ford, as of about two weeks ago, extended the warranty for this issue for vehicles that meet certain qualifications. Just got the letter in the mail this week.
For my 2015, the new coverage is 5 years from the in-service date or 100K miles, whichever comes first. For otherwise eligible vehicles that already exceed either of those, the warranty is extended for one year from the date of the notification (11/18/17).
Reference "Customer Satisfaction Program 17N04".
It appears that this coverage may go back to prior year models, but my letter didn't include that detail.
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.