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I have a 15 for 2.5 years and never was really happy with how the tranny responds. Too much herky jerky. I also back into my driveway and there is always a delay from drive to reverse when the pedal is pressed while in reverse. There is tons of power no doubt but some of the software decisions that the transmission makes is frustrating.
I always drive mine in tow haul mode. Way better response at all times. The trans is definitely programmed to be soft and smooth, a little too much for most of our tastes.
I have a 2015 Expo Plat 2wd, had the same hesitation problem, my ford garage reprogrammed the pcm and problem went away. At the same time fixed another problem....when accelerating to enter interstate would hear a bunch of clicking noises and a cloud of carbon would come out back. After reprogramming pcm that stopped as well. Fuel mixture wasn't right. From what I've read you should get pcm reprogrammed every once in awhile cause Ford is always changing the programming.
Throttle calibration can substantially improve throttle responsiveness over "factory standard." Many people notice what appears to be sluggish throttle response or a "dead area" at initial accelerator depression. Throttle calibration can take care of these.
1) turn the key in the ON position (don't start the engine)
2) press the gas pedal down slowly all the way down
3) let go of the gas pedal fast so it come back up
4) turn key into the OFF position
repeat steps 1-4 two more times then start engine.
Most drivers notice an immediate change in throttle response, but depending on your driving style, you may need to repeat this procedure periodically due to the computer's adaptive programming. You likely need to repeat this procedure any time the battery is disconnected.