Sounds like a damaged or rusted through heater core issue, especially if coolant can be smelled inside the cabin.
Also, the fancy Expeditions with rear climate controls apparently have a secondary heater core for the royalty sitting in the back, with secondary coolant lines. It could be leaking from there, if everything up front checks out OK.
Gurgling water sounds coming from the glove box when you start the engine cold means there is air in the system. I had the same thing happen when the water pump on my V8 Triton developed a gasket leak. Pretty soon the slow leak became a full-blown coolant hemorrhage.
Just for fun though, change your radiator cap first. Sometimes that's all there's to it : a rad cap that is damaged and lets coolant leak out when hot, which is very hard to catch "in action". It is recommended to change rad caps multiple times in a car's or truck's lifetime, because they do degrade quite rapidly. They can actually fail in several ways, be it the gaskets or the little spring-loaded plunger mechanism in the center. On my 2014, the original rad cap actually failed BOTH ways : the main gasket cracked and the center plunger was frozen in place due to an accumulation of gunk.
Finally, if you're the one paying for it (as opposed to warranty), the dealership is probably the worst place to go get things fixed.