My wife had a 2013 Sport for about 65k plus miles, which she loved. If there is a problem with the Explorer one might argue it is the EPAS system, which has been known to have issues. We had an issue with our EPAS, but did not experience the problem you describe here. Ford did us solid on the repair of the EPAS because it was past warranty and we only had to pay $300 for a $1,600 repair.
I understand being pissed about the issue, as it is frustrating, but I personally wouldnt forgo another Explorer out of concern for this same problem occurring. These are machines and machines can have problems, and fortunately it sounds like Ford is trying to make it right for you at least.