@fh4ever with it still under the Ford warranty make sure the service writer checks it in with the written concern clearly spelt out on the job sheet and that way you'll have a legal record in the event there's a failure after the warranty period.
Also a good idea to contact Ford Corporate and let them know that you don't believe the dealership tech has fully understood and investigated the concerns.
Yes, a second dealership is a good idea.
The specialist transmission shop is good, but with it being under warranty I'd pursue Ford first.