Engine periodically goes into Failsafe mode.

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I have noticed power loss at highway speeds look down at the gauges and notice that the message center says 'Failsafe mode'. The engine either quits or goes to a rough idle. To clear the message and restore engine performance I have to pull over put the transmission in park, shut off the engine, wait a minute or two and restart. This happens a few times a year over the past few years and has resulted in power steering loss and power brake loss while driving on the interstate at 60-70 mph. I have brought it to the Ford place and they stated that they could not replicate. It has been doing this since I bought the truck new. It now has 110k miles.