Have you had the most recent transmission software installed? Sometimes that helps. Personally, I would do drain and fill only.  There are other things that can cause shifting issues, so a good diagnostic might also be useful. The ecm relies on a number of engine and drivetrain sensors to determine shift points, harshness etc.

Tires can cause this. Cupped, under pressure, defects.   Check pressure, look for uneven wear, balance, try rotating and see if the sound changes (front to back.)   Other than that, I'd look at the bearings.

First have you read this post:   2012 Ford Edge Ambient Lighting Issue - Glass, Lenses, Lighting, Mirrors, Sunroof (BAMR), Wipers - Ford Edge Forum https://share.google/WL7F8CNTqRp3sXS0k   Other than that, the Ford p/n CL8Z-13E700-AA is shown as discontinued. (?)    

Perhaps this is a solution - it is supposed to provide gains even on locked ECUs: protuningusa.com/product/2007-2025-ford-edge-stage-3-performance-race-tuner-chip-power-tuning-programmer-t2/

I have a 2018 Edge 3.5L V6 AWD SEL with 87,000 miles. I'm starting to notice rough shifting, some hesitation on downshifts, clunking on change of mind shifts, etc. I discussed this with a service writer at the local Ford dealership. He said that diagnostics would cost around $450 and they might not find anything. He suggested instead that I either do a transmission drain and fill or a flush and fill. The flush and fill was about twice the cost of the drain and fill ($500 versus $250). Since Ford doesn't recommend transmission service in the maintenance schedule, I haven't had any transmission work done on the car. I have no idea if either makes sense, but I worry that the flush and fill might cause more harm than good, maybe loosening debris in the transmission that could jam something in the valve body or wherever. Does anyone have any thoughts or suggestions?

I think garycrist has a better handle on this than me (electrical gremlins....yikes!).  But...how old is the battery?  I don't think that is the issue given your readings, but you never know.

Does anyone know how to order replacement parts for the factory ambient lighting? Both of my footwell lights are acting up.

You might look at the battery terminals replace as nessary. A bad chassis ground or the PLUS side of the battery to the power distribution box would cause the problem you described. Those originate at the battery in most cases. Your charging system appears to good, according to your readings.   As a side note, take your high RPM readings with ALL of the electrical load. A/C on ,fan on high, bright lights, etc. or 1/2 volt or so above the resting voltage about 12.8 volts.

Looking further into it, -- We have a U0401. -- Ran a key off self test, got DTC P1464  AC demand out of range.  AC clutch did not engage -- static pressure is 62 psi at measured ambient 75 F on both sides R-1234yf table says it should be 82.2 PSI at that temp. -- New Note:  Manifold guage reads 62 PSI at 75F, AC_PRESS PID reads 105...out of range?  Would that stop compressor clutch?  Calls for Pinpoint test A -- ACCCLT_ALW  (AC clutch allow) is NO on Forscan. All other Forscan AC PID's are OK or yes.   At this point, I'm thinking either a bad HVAC module (due to the U0401) or low refrig (based on static pressure).   Gotta figure our why clutch is not engaging.   Any thoughts appreciated.  

Confirming Ford of Canada's release of their Full Dealer Bulletin and Field Service Action (FSA) process, using the same PDF documents that are attached above...