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Need some help and advice regarding trans issues with the 10spd

2020 5.0 model

Whether cool or at opt temp On a random occasion my trans decides its forgotten how to shift From the usual 1 3 5 7 shifts I've had it shift into second Rev out till about 2.5-3k rpm Shift into 4th Then downshift into 2nd Rev out again, & actually accelerate on its own then jerk back into 4th again and Rev out to the 3k rpm range I popped it into neutral Came to a full stop Put it back into drive and it got stuck in 10th and I limped it for about 30 seconds before it jerked and down shifted into 6th

I've taken it to Ford before Nothing comes up

Plugged in a scanner last night and drove for over an hour