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Have had a similar problem on our 2011 Edge. Initially, the dealer did a software update which changed the shift responsiveness. That was in March of this year. The problem reoccured last week, but this time when I took it in the service writer produced TSB 11-12-10. The invoice describes replacing two seperator plates and removing a check ball from the transmission, then updating the pcm. My wife drives the car most of the time, and she says it is like the car has had a tune-up. It shifts more responsively, and no bang.

Ford does have a TSB for this problem, it was performed on my 2011 Edge. My wife and I both experienced this about 8 months ago, the dealer did some software updates, and it was fine until last week, when it happened again. This time the dealer dropped the pan and replaced parts in the tranny. My wife drives ithis car every day and says it now drives more smoothly than before. Don't havoe the invoice, but will post the specific info when possible.