I can't speak specifically to the 4dr, but I have always found on all the vehicles i've owned, going to E on the gauge is not completely empty. You'll have 1-2 gallons to go. It might be a hold over from back in the day when the gauge was based on an actual float in the tank that couldn't go all the way to the bottom. Maybe that is still the case with even electronic sensors, that they can't sense all the way down so 21 gals is what they can sense but there is still some gas yet in the tank when they say you're on E. my 2 cents.
2024 Ford Bronco Raptor - Shelter Green - Order Confirmed 9/21/2023, Scheduled 1/29/2024, In Production 2/2/2024, Built 2/23/204, Shipped 2/25/2024, Delivered 3/12/204.