I don't have the power liftgate and I wonder if there is a way to open the tailgate from inside the vehicle
Without the power tailgate no there is not a way to open it from inside. The remote keyfob might have a rear hatch release button if it doesn't have remote start.
There is an access panel on the inside of the rear hatch, about 5" X 4", remove that and there is a lever inside about an inch and below the opening, it moves to the right to release the catch
2017 Edge lift gate button is located at the bottom right hand side of the light control cluster. has a symbol that looks like the lift gate. The is on the left hand side of the steering wheel.
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