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Take it to any tire shop and ask for a diagnosis and quote to fix. Then if you have a written diagnosis before Ford's warranty expires then you have something to hold over Ford's head proving failure before the warranty ended. And you have a price which is sure to beat the dealer's quote.

You can't really blame Ford for anything but the selection of vendor as OEM. There are only a few used by the major automobile manufacturers and sometimes they make a batch of lemons. Be assured Ford tracks this and has a means of back-billing the vendor for Ford's warranty costs. The sensors in my Tesla failed at 3 years but the replacements are now 5 years and going strong.

Supposedly new and compatible sensors are available on eBay for under $30 each. If you have a relatively large air compressor then you can install the sensors yourself. Deflate the tire and lay it on the grass or something soft, then use another vehicle to run over the tire (not the rim, a "glancing" run over the tire) to pop the outside bead loose from the rim. No need to do the inside bead and good reason not to. A 2x4 or two to hold the tire clear of the valve and TPMS sensor while you stick your hand in there. I forgot exactly which but Ford used a Torx screw to hold the sensor to valve stem. Soapy water helps reseat the tire bead when you reinflate the tire.

A set of Autel MX sensors is under $130 from Amazon but requires an Autel tool ($200+) to initialize to Ford protocol. A lot of shops use these because one sensor works on everything.