I have a Dodge Nitro and my parking lights still stay on all the time.

The TIPM when performing the hard battery reset should relearn the default values. The TIPM has a pre-determined value safety that will turn off those parking lamps.
 
It's possible that your TIPM needs a longer hard battery reset. Also, the parking lights might be timed to turn off at a later point. You can toggle when they turn off with a good scan tool that can access the TIPM. 
 
If that doesn't help, please check fuses M17, M18, and M19 since (M17, and M18) are the parking lamp fuses, and M19 is the auto shutdown fuse.
 
Hard Battery Reset:
 
Soft Relearn Procedure: