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I went in and they did a software update and said the codes cleared... it happened again yesterday. I think I'm going to just wait and hope that Ford releases a TSB instead of having to bring this back to the dealership a million times.

I'm having this exact same issue so I brought it into the dealer for investigation. It turns out the headlight switch is throwing errors codes and I have an appointment for the service dept to look at it. I'll let you know!