Until I went in for the recall my shifting was perfectly fine. Post recall, 2-3 is lagged. At very high RPM's it is normal.
I'm led to believe resetting the TCM with a battery pull may resolve the issue - but I'm not confident it's a surefire fix and depends more-so on your specific driving habits afterwards.
It is not okay that your dealer told you there is nothing they can do. I know there are ford rep's on this website that we may be able to talk to, maybe we should try that?