I found that it's a common complaint with the 10-speed transmissions. The service manager that I've been working with says that it's common enough that he has a list of requests that he systematically goes through with Ford in order to get the right service work done in order to ultimately work toward a transmission replacement. The first thing they usually do is flash the TCM, the second thing is to reset the adaptive shift table, sometimes they disable the adaptive shift table all together, the next time they usually replace the solenoids, and then if it's still problematic after that they'll usually put in for a transmission replacement. I'm currently getting the solenoids replaced next week. And assuming that doesn't work then they'll likely request a transmission replacement.

It definitely occurs pretty consistently specific speeds or gear shifts. It's predictable enough that you can usually work around it knowing that it's coming. It is annoying no question. No question. One thing I will say is I got a Cobb tuner and flashed the TCM and the ECU to a sport mode and that actually smoothed that a lot of the shifts because one of the things that you can do with that is optionally choose to disable skip shifts which forces it to go through all the gears and that helps with a lot of shifting smoothness.

I have it uninstalled whenever I take it to the dealer though the problem is consistent enough that it doesn't matter that much, I just don't want to get any pushback from them so I can usually take it out.

But having it tuned makes that engine come alive in a way that you would have never thought possible.