My vote is 100% for the differential fluid + friction modifier solution.
Ford had a TSB about this garbage a few years ago. I took my still-new car that only had 15k miles on it in complaining about EXACTLY what you're describing.
The monkeys changed the differential fluid and added friction modifier.
Fast forward three years and the problem comes back. I decide the do the job again and lo and behold, I find that when I crack the differential cover off, only HALF OF A QUART came out of my rear end. There should be like 1.75 quarts in there, i believe. Check your manual.
I filled her back up with the proper amount of fluid, using Royal Purple MaxGear 75w140 and a bottle of Ford's friction modifier.... its like a 3 ounce white bottle.
I haven't had any problems since then, but if you do decide to do the job yourself, may I recommend that you remove the rear sway bar in order to make accessing the differential cover easier? I had an unpleasant experience doing my differential due to the sway bar being in the way. And it was raining
Good luck, PM me for any help I can give.