Focus Titanium auto transmission

The transmission in my 2012 Ford Focus Titanium has shuddered from new. I have discussed the fault with Ford Customer Relations and the Ford dealer I purchased it from. The dealer has adjusted the transmission settings on a number of occasions but the fault still exists. At this point of time both the dealer and Ford accept that they still exist, but now state that the problems are within specifications and that there is nothing wrong with my vehicle, yet, both problems are significant and the existence is recognised by Ford. The dealer has informed me that this is a common problem with the petrol Ford Focus Titanium. How do I get Ford to accept its responsibility and fix my car so that it drives like a $38,000 top of the line vehicle?