At slow speeds - 20 mph or less - transmission jerks as if searching for right gear.
What did the folks at the Ford service department have to say when you brought your fully-warrantied car to them for this problem?
Edge has 8 spd. Explorer has 10 speed. Edge trans have calibration updates that may help. Explorer trans seem more trouble free.
With any luck, the dealership can download new and improved shift logic for the OP’s transmission, but unless she actually goes there and presents the problem to them, there is nothing that any of us can accomplish in regard to her fully-warrantied vehicle.