Exactly the same issue my wife's Edge had. I even reset the adaptive learning with the same results.Been having the jerking from P to D and some harsh shifting. Resetting the adaptive tables helps but only for a little while. Was hoping this might have been a perm fix, but doesn’t sound like it.
We reflashed it four times over the course of 2 years, every time Ford had a new trans calibration avialable. It got better with each new calibration, and it's perfect now. They'll get it right eventually, but it'll take them a long time.