Looks like Ford needs a TPMS sensor relearn/training tool. Some cars can be put into a relearn mode and simply driven, but doesn't look like Ford has that option. Lots of Ford TPMS relearn tools on Amazon, but read applicability and reviews to ensure it will work for your model year.
Here's the procedure to enter the "Training Mode" if the special Ford $300+ scan tool is not used.
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Once the "Training Mode" is entered, then re-train the TPMS sensors per the following procedure. Steps 4, 5 and 6 probably not applicable if just re-training the sensor locations after a tire rotation. I'm sure there are many YouTube videos on the procedure also.
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