My truck 2017 F-250 is at the dealer right now for the same issue. 11,500 miles on it. I had my wife shoot a video as we approached an expansion joint that had started it in the past. This one was very mild in comparison to some we've had.
https://www.dropbox.com/s/7tv7x55c7grs645/VID_20181206_101436.mp4?dl=0
https://www.dropbox.com/s/7tv7x55c7grs645/VID_20181206_101436.mp4?dl=0