"Ajar" is definitely a word that you can use. Perhaps it might not be used a lot, but that is not a reason to avoid it. English has zillions of words, some used frequently, and others less so. Rather than avoid infrequently used words, I suggest that you incorporate more of them into your active vocabulary.
Here's a good question to type into Artificial Intelligence:
"Please give me a list of words in English, like 'ajar', that are actively, but infrequently, used in English."