My previous truck went into limp mode twice, but it was related to fuel pressure both times. If you continue to have regen problems your dealer can enable "operator commanded regens" (TSB 14-0171). You can then force it to regen if necessary.
I find it difficult to believe that all the Ford dealers in Phoenix are worthless. Perhaps someone from the area can direct you to a good shop.
When possible, I buy all my DEF at the pump; after several power strokes, no issues.
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Scott & Alta
2017 Montana 3160RL, Legacy, Onan 5.5Kw, Solar
2022 F-450 Lariat Ultimate
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