When you get the warning, Do the interior lights turn on? Of course, the switches should be in proper position (the one that turn on lights when you open one door).
In your car, is the driver's door the only one monitored by check control? I mean, you can live any other door open and drive your car without getting warning. If so only the driver's door circuit is involved, forget the other doors.
If lights do not turn on, the problem is inside the Check Control Module, if they do, you probably have the wire with some insulation damage and when the car moves it is shorted to ground intermittently. Sorry, this is the type of bugs hard to catch. The wire is a Brown/Gray/Yellow that goes to General Module, Check control, Anti Theft system, Seat/Mirror memory control, and the door jamb switch.
Javier