Kjohn09e, it sounds like you need a shifter cable adjustment. If you have the manual, rhe steps to do this are in there. You just need access to the cables that mount on top of your transmission. If you don't, PM Rodmoe and he can provide you with the link to where he posted the steps from the Ford Manual.
You can then take this to another dealer or a mechanic you trust, if you don't feel like DIY.
I've had some poor experiences the two times I took my FiST to two different dealers, so I feel your pain. I only take it to them for warranty work, or problems with bleeding antilock solenoids when I installed the Willwood BBK. Net result was one dealer putting in DOT 3 brake fluid, when DOT 4 is specified for a brake flush. I had to go in twice to get this fixed. Last time was for a leaking slave cylinder. Technician cross threaded the M10 x 1.5 x 110 bolt that attaches the Cobb roll mount to the tranny. This bolt was broken on the way home. I had to remove the threaded part of the bolt from the tranny mount. It broke flush to the boss and required a left hand drill to remove. I ended up getting temporary bolts from Bolt Depot until the Ford ones come in on Saturday. Stuff happens. I'm still loyal to my dealer. I had them talk to their technician about which bolt goes in first, (bolt that attaches to tranny) and how you may need to rock or move the engine to get the Cobb real roll resistor hole to line up with the frame bracket. There was evidence a BFH was used to get the tranny bolt to go in.
Ford sends you a survey, and they really act on these things. I got a call from my service rep, and he's promised to mail me another bolt, expressed his apology. I told him it wasn't his fault. I'll probably have the permanent fix in before the free bolt arrives. This bolt is, for whatever reason, on national back order. I ordered the bolt from 3 different places. one backed out, but I'll have 2 sets of bolts here by next week.
Keep trying to find a good dealership. It will pay off in the end. I'm at 26K so problems will crop up the more mileage you get on your car. My dealer did fix all my squeaking issues, even if they caused one problem, so I'll still go back to them.