Just to give you guys an updated, I ended up taking the truck 3x times to Ford to have if fixed. They lubricated the splines the first 2 times, but this last time they did the same repair as the one done for 2THXTRM
I have a 2023 XLT 3.5 4x4 with 32,000 miles and had the exact same problem. Took it to FORD and they ended up just lubricating the splines. The clunking noise is gone for now.