I got the same message at about the same mileage, then it cleared. Took the truck back where I got it from, they pulled a code,and were kind enough to grease the interior and scratch up the seats for me. Then they said nothing was wrong. 1000 miles later, I got the message again, and got the joy of driving 50 mph when traffic was moving 80. Eventually got the idle on restart message and left it at a different dealership.

Four days later, I got it back with a new NOX sensor. It didn't take long to fix it, but they said they've had so many failures that Ford is having a hard time keeping up.