Just get the powerfold seat module firmware update. I haven't had any issues since. I wish dealers would update all modules on request. It would solve a lot of problems people have been experiencing, especially for MY2020-2021.
I got so fed up with playing the dealership game with warranty issues that I went ahead and bought a Mongoose J2534 adapter and leased Ford FDRS for 2 days to update all the modules myself. It has made a world of difference. Worth it for me even though it was pricey.
Someday I hope manufacturers will just push out module updates OTA like Tesla does and you don't have to suffer through flawed module programming.