Pretty common tranny in newer Ford pickup. Mine is a 2019 has 112k and getting some hard shifts especially in 1-4 when trans is cold. Did a fluid change & filter about 1k ago with all motorcraft parts. No change.
I built and raced a 2019 mustang with the 10r80 tranny same as in the F150.
Might not be your problem but....There is a known problem 2018-2023? fixed with revised CDF drum. The CDF drum bushing slips and plugs an oil hole kills pressure = hard shifts. There is no dash mil or code for CDF but you can pull codes with obd2 reader like OBDLink EX or MX+ that can use FORscan and look for related codes that strongly imply this has happened, Your should dealer knows this. look for error codes P2705, P0761, P2702, P0729-0735.