Thanks OP and helpful contributors to this thread.
Mine is doing this as well. can confirm I am not giving it gas when shifting to drive as the dash indicates. 2013 with 65k miles, all stock never off-roaded or jumped that I know of, I have the meticulous service record since new.
Havent checked forescan yet for codes. Might try to do that before taking it in.
Truck came with a platinum warrantee (unfortunately not FORD warranty but supposedly good) so I think I will let Ford have a look at it rather than spend my own money.