Update on repairs from West Herr Ford. Seems like they had to pull my engine and transmission to fix. They have not been able to explain to me in plain language what the actual problem was...
VERIFY CUSTOMER CONCERN FOUND THE VEHICLE WILL NOT SHIFT INTO DRIVE WITH A FAULT MESSAGE ON THE DASH...
I also now have a "shift sys fault" error after ~7800 miles and less than one year of ownership. I had a deep sleep warning about a month prior to that, which could have been from not driving for a few days and cold temperatures. West Herr Ford indicated they could not diagnose the problem...