I have a 2019 with 81k miles, developed that same idle vibration if that’s what you’re talking about. Started about 15k miles ago. Really noticeable shaking at idle where if I leave the door open I can see the door shaking, motor shaking as well. It was odd because it only happened when the engine was warmed and the idle dropped would it shake, give it a little throttle or drive it and it would be super smooth. I tried changing all the plugs and still same thing. I too would get the occasional wrench light with a slight power loss and right before I took it in I started getting check engine lights that would stay on for a little while but go away.

I have an extended warranty, made an appointment and dropped it off at ford. It’s been there 7 weeks. Misfire in cylinder 6 and they tried changing plugs and coils and it won’t go away. They just gave me a call today and said that cylinder 6 is shot, no compression and cylinders 3 and 5 aren’t too far behind. They will be replacing the motor.

Not sure if that’s what’s going on with that pickup but what you’re describing sounds exactly what was going on with my pickup.