Had the same issue on my 2020 XLT. (68k) Thought I was crazy at first, no codes, just at 25-40mph, fine on the highway. Followed @Trash Panda 's posts on the three sensors and added a set of plugs. Boom, stopped doing it! THANK YOU ALL
Thinking that I will do Bilstein 4600 on all 4 corners. I know I can do the rear and will look for a local shop to do the front and then get it all aligned.
I took my 2020 Ranger XLT, 50k, on-road only to get new tires. Up on the rack they showed me that both shoals and both struts show oil leakage. Then explained for $2k they can replace them all. Does that sound realistic? All 4 at 50k miles? $2k?