I've got error "Transmission malfunction service now" on my 2012 Ford Focus. Is this anything related to dual-clutch PowerShift transmission problem? Also, does Ford take responsibility to fix this issue without charging me? I
believe I have 5 years extended warranty that expires on Jan 2018 and my car is currently inspected by Ford mechanics.
There’s every chance that it is the dreaded PowerShift transmission problem. Ford generally takes responsibility for the problem, so it would be in your best interest to contact Ford and register your problem with its customer assistance people (13 3673), particularly if your warranty is about to expire next month. It's well documented the dual-clutch transmissions in the Ford Focus and Fiesta have issues.
There is a class action underway against Ford over the problems with the Focus automatic transmission. More information can be found here.