Ford 6.7L Power Stroke Diesel :: 2015 F250 - Exhaust Fluid System Fault

I bought my 2015 F250 last November, and this spring my check engine light comes on with the message exhaust system fluid fault with the anoyying speed limitation. Bring the truck back to the dealer and they just say add def fluid, so I just have them do it. 2 weeks later the message comes back, bring it back to the dealer and they tell me it "needs reprograming" they do the work, light goes off. two weeks later light comes on again. Dealer puts in new exhaust sensors and reprograms the truck.

This fix lasts a few months in the mean time the truck shutters really bad under regeneration mode. Talk to dealer they claim its normal. Finally this week the light comes back on again. Bring the truck to the dealer and Ford keeps telling them that it only needs reprograming but that doesn't fix the problem. The dealer wants to replace the computer but ford isn't letting them do it (the truck is still under warranty) . I am starting to get pretty mad when I went out and bout a 65k truck not to have these problems.