I am here after owning 2 F150's, both having transmission issues. The tranny in the 05 failed at 66K miles. It also had a couple injectors fail at two different times. The second time it took out one converter. At 5K miles the complete sunroof assembly and headliner had to be replaced after 2 previous repair attempts. The dealer finally replaced everything when it got stuck opened.
Pick your poison
I am still on all the original fluids, all but the engine oil. My truck only has 23K miles on it. I am running 0W-30 (Mobil One) instead of the 5W-30 that is recommended and I have not noticed any difference in MPG, but that was not the reason for me switching to this weight.
If you are concerned about voiding your warranty I would advise against it until it expires. What if you tuck breaks down on you and you're not able to return the factory program before getting it serviced. Anything can happen.
I don't know from experience but have read post from other's having this issue when using the heater. Best I can suggest is to talk to your dealerships service department as to why this does this, and hope they don't blow smoke. My best guess on it is that the temp sensor the computer is reading is either reading too hot or too cold for what the block actually is... but that is just my guess on it. Hope you figure it out.