Transmission serviced every 30,000 Mi at my dealership, only towed a U-Haul about 2 years ago mostly highway miles ,I have a 150,000 Mi extended warranty and my dealership also has a lifetime drivetrain warranty so I'm covered
You can research this forum and find many Mavericks that have electric parking brake that will not go into service mode with the key and the pedal dance
I had the same problem dealership changed the fluid per a service bulletin, I think I read in the past on this forum a lot of Mavericks and broncosports had the same problem