How old is your battery. I know in my parents 2007 Expedition, the battery was bad after 3 years and it started having all kinds of issues (trans. shifts, traction control, abs, hard starting)
Dealer said nothing was wrong because there were no codes. Finally the battery died in the mall parking lot.
New battery and never had issues it was having before.
Same thing happened with their 2006 Honda Accord. Transmission was acting weird and after my Dad replaced the battery all the issues went away.
Might be a good idea to just replace the battery if its over 2 years old and see if that helps.