Yes that a warning sign of Gearbox
> Do you find anything which is impacting Pickup ?
> Any issue in applying brakes or changing gear ?
> Could you check Transmission Fluid levels too ?
> Any Excess Smoke from exhaust ?
If all okay, Suggest to get the same inspected from Ford Workshop and let them know that you did basic checks of pickup, brake, gear shifts and exhaust smoke.
There could also be a false trigger caught by sensor malfunction too which may be causing the error, but still best to check from Ford Workshop
Hope should help !!