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Sorry, my question was not specific enough. Ford refers to this issue as rough shifting after an extended cold soak. The new 6 speed transmission likes to warm up a little before it behaves perfectly. Some are more finicky than others. There have been a couple of reprogramming TSB's released for rough or erratic shifting. Your truck might need the latest one. I would recommend returning to your dealer and letting them know what is happening. They can run the diagnostics to see what is going on.
It appears to me that the problem shows up more often in trucks driven by guys who start and drive the trucks. I rarely get in my truck after an extended cold soak and do a start and drive. I have the factory remote start and I use it almost every time I start the truck. This means my truck always has a five minute or so warm up before the first drive. This may be why I never see the shift issue. Ford is ok with cold drive a way's. Ford has programmed the truck to tell you to wait 30 seconds before you drive if it is too cold. Good plan to take the truck in for diagnostics.