Now while I do go over TCM replacement and a little of how it all works this is by no means a customer type repair. What I do go over though is the symptoms of a failing Transmission Control Module. If the grounding issue checks out (see video explaining that below first, it applies to Focus too) and you are still having these symptoms you are due for a TCM replacement. While a very expensive repair it is covered under emissions defect warranty which is longer instead of powertrain so don't dismiss the dealer just yet. Hope this helps these are the most common symptoms which may be intermittent at first.