Tread shape shouldn't matter, it's the rolling circumference of the tire, so I'd question that...
It's kind of a difficult situation, not sure how your ESP was worded or if it included some language in there about the tires specifically. If it doesn't, and they were replaced like that at the dealer supporting the warranty you've got a case. If not, you're probably going to be screwed even if there isn't anything written about doing it specifically in the ESP paperwork.
They are going to refer to text like that on pg. 184 of the owners manual:
"If your vehicle is equipped with AWD, a spare tire of a different
size than the road tires should not be used. Such a tire could
make the vehicle difficult to control as well as result in damage to
driveline components."
or this on pg. 159
"Your vehicle is equipped with tires designed to provide for safe ride and
handling capability.
Make sure all tires and wheels on the vehicle are of the same size, type,
tread design and load-carrying capacity. If you have questions regarding
tire replacement, see an authorized Ford or Lincoln Mercury dealer.
If you nevertheless decide to equip your AWD for off-road use with tires
larger than what Ford Motor Company recommends, you should not use
these tires for highway driving. If you use any tire/wheel combination not
recommended by Ford Motor Company, it may adversely affect vehicle handling
and could cause steering, suspension, axle or transfer case failure as well as
the increased risk of loss of vehicle control.
Do not use “aftermarket lift kits” or other suspension modifications,
whether or not they are used with larger tires and wheels.
These “aftermarket lift kits” could adversely affect the vehicle’s handling
characteristics, which could lead to loss of vehicle control or rollover and
serious injury.
Tires can be damaged during off-road use. For your safety, tires that are
damaged should not be used for highway driving because they are more
likely to blow out or fail."
It absolves them of liability for modified vehicles, and will probably catch yours now too, unfortunately. I don't know if, as Turdle said, that is enough to void your ESP, but that all depends on how it is worded.