Out of curiosity, have you had any luck getting things sorted out? I have a 2016 XLT with 30000 KM. Just had what sounds like a very similar issue on the way home. Heard a loud clunk underneath the truck while driving along, and now Hill start assist, Advance Trac, Steering assist, Check 4x4, Trailer Brake module, and 911 assist warning lights all have come up on the dash. My indicators are no longer working, nor are my power locks.

Not looking forward to going through what I'm sure will be a huge headache with the local dealership..

 

I'm sure hoping it goes easier for you! The main issue was the nature of the failure being intermittent and the dealer has to be willing to drop everything to get it on a analyzer when it is actively having an issue. And no-one had seen anything like it apparently.
I never heard a clunk on mine...but the other issues sounds similar.
Initially it was a bad ABS module that was on the computer - replaced.
Then they found a loose wire connection at the fuse box.
Then they couldn't find anything but 50+ codes spitting out that had nothing to do with each other.
It was escalated to Ford Technical but little answers there...The dealer ordered a new diagnostic tool for it that happened to arrive when I got into them again on 1/28 when it was back to consistently throwing errors and the grinding noise. They finally got what they felt was the info they needed and since I had a regional rep to work with they now got a "Ford escalation team" and were able to diagnose a Power Steering module failure before it quit erroring again. That was just replaced yesterday. Still working on the grinding noise, we think it is the hubs since i had the IWE replaced already and those parts have been on order since Dec.