Warning Light On problems of the 2012 Ford F-250

I currently have 122,000 miles on my truck and it's all stock, even the tires are the same type as oem. For over 2 years and about 60,000 miles I continually have the same dash warning lights come on; hill decent control & advanced track. The bad part about this is that they don't just come on and remain as active system warnings, they will flash on, alert me, then go off and then come back on. So when I click "ok" to silence them, they only stay silenced for that occurrence. So when they go off then come back on, it alerts me again and again, and again. I've been on road trips where it will continue this the entire road trip. There is no established or average time that the stay on, it's random. When these alerts appear, while they are active the airbag light comes on. I don't get an alert that the airbags are in fault, I just get a dashboard light. So I can only assume that the airbags aren't working while these faults are active. I've taken it to Ford dealers multiple times for this while it was still under warranty and they claim that no fault codes appear and that they couldn't duplicate the issue. I've even had a dealership try to charge me for this. I took it to one dealership and they said it would be a $100 diagnostic fee to attempt to find it. I mentioned the safety issue but they didn't seem to care. Upon request I can provide pictures of my dash while they are active and possibly dealership receipts where they documented it.