I was finally was able to take a video of my transmission grinding with a better camera than the one on my phone. I have 33k miles, so the car is definitely broken in. The transmission has never really felt awesome, it vibrates at idle occasionally (not too badly and not always). This noise is worse when accelerating slowly going uphill, but depends on the day. Sometimes it does it every time, but only gears 1-3, I've never heard it past 4. Last time I took it in they said "That's just how these transmissions work", but that was like 9 months ago before the Ford dealership had any experience with these transmissions. Here's the link:
EDIT: FYI, this was taken on some urban streets in Milwaukee with the windows down, so some of the noise is wind and crappy pavement, but the transmission noise is pretty evident.
Other videos out there: