The "color of the are where light doesn't reach" demonstrates your problem, you have no light influencing your scene at this point. In any space/place where light doesn't reach, there is no colour, only blackness.
Here are the common ways of addressing 3D lighting:
1. Add more lights to places that create your ideal lighting
This is an artistic process, time consuming and arduous to get "just so". But it gets the best effects and the best atmosphere, generally speaking.
or...
2. Use an ambient light in your scene to light everything
When starting out, in 3D, there's so much to master that simply throwing in an ambient light and getting on with other work towards your goal is probably a good workflow. Work on artistic light last, use ambient lighting until then: https://developer.apple.com/reference/scenekit/scnlight.lighttype/1522769-ambient
Caveat:
Ambient lights will likely solve your problem of the dark edges, but will also wash out a lot of your existing shadows.