Audio Alert when Door Not shut

We have an issue where we leave the house and the door is jammed (doesn’t fully shut) and walk away. Is there a way to set an audio alarm (notification) on an iPhone that can beep within 20-60 seconds of a door being open if it’s not fully latched or locked? If we’re just a few seconds away from the door, we can walk back and ensure that the door is properly closed.

I would love that too!
Otherwise there is a Door open warning in the settings, but it can be set 2 min - 30 min (which I have enabled).
Settings-Manage door sensor-Door open Warning…