On my 22 F-150 lariat, the cup holder ambient lights were also deleted. I purchased a set of 21 platinum cup holders from Varsity Ford and they had the ambient lights installed in the cup holders. However, this also required a harness to plug them into, as the wiring going to the cupholders was also deleted.
I would imagine you could do the same thing with the Explorers, I would look into either ST or Platinum level cup holders using a 2020 part number. The you would still likely have to build a wiring harness for it as well.