I am in the same boat as you, except mine is the dash. Consider replacing it, but you also have to consider what replacing it entails. Could replacing it cause another issue? Probably, because let's face it, it is not being replaced at the factory, but at the dealership, and the dealership doesn't make mistakes right?
Anyway, one option you might consider, (if offered, because I think it is up to Ford whether they replace or not) is an appearance allowance. Consider the electronics in it, (plus the time your SUV is in the dealership) if the amount they gave back to you on your steering wheel was reasonable like say $800 or so, to leave it alone, maybe you could live with it knowing that you won't have any new issues as a result of having the steering wheel replaced, and Ford doesn't have to pay the dealership for the labour to change it.