Carol had an intermittent won't shift (out of gear) issue with the "parking fault" warning that disappears once shut off. Often TCM from some seen here.
Morphed into a won't start (possible same cause) but complicated by a remote starter from a different model installed by cut & splice when initially sold by the Dealer.
Currently showing communication codes, remote starter removed, and some harness replacement done per Ford suggestion. No resolution yet & it's at a second Dealer for another look.
TCM includes the shifting motors on these (clutch actuators separate) and with it failing to shift (plus that being the only warranty item officially) replacing it is a question/possible solution.
Continuing to replace harnesses seems to be the current guess, before trying a different TCM.