I am having this exact problem with my 2018 Raptor. It's been going on almost since I bought it. I've taken it in to get serviced for this twice. The first time I was told it was related to a recall notice, so they performed that recall repair and sent me on my way. Still happened. The second time they told me it was the Cam Phasers and they replaced those. On the drive home from the shop, I experienced the same problem ($#@!!). I have pretty much ignored it since... but it's getting much worse. Actually it's more hit and miss but when it happens, it's sounds and feels like I'm dropping the entire undercarriage on the highway. I started to put together a pattern, though, and so I decided to put a theory to the test. One day when it was happening really bad, I engaged 4WD and it immediately went away. Later that day, after no further sounds, I put it back in 2WD and no problems... so far. My theory is this problem gets progressively worse until I switch into 4WD (which I do occasionally). Once I do that, and switch back to 2WD, I'm good for weeks, maybe even a couple months, before the noise starts again.
And to be clear, the "noise" sounds like a heavy metallic rattling in the front of the car. The noise usually starts on the left front and seems to travel to the right front (like you were hearing someone switching speakers from left to right). About half the time, this noise is followed by a hammer that can be felt in the steering wheel and the floor boards. Usually when the noise starts, I can let off the gas for a moment and the noise will stop before I feel the hammer. But 30 seconds later, it's back.
Does anyone have the exact bead on this issue and what needs fixed so I can converse better (and more sternly) with my Ford service rep? I'm ready to tell them, "It's not the Cam Phasers. It's the ******* Photon Torpedoes!" Obviously I need something better. Thanks to anyone who can provide some clarity.