2014 Ford Explorer engine problems

After purchasing a new 2014 ford explorer limited. 3.5l 4wd less than 2 hours prior, my wife and 2 children were driving home down the freeway. After a hard acceleration an awful smell filled the cabin. My wife started coughing and I instantly felt nauseous. I pulled over thinking something was burning, my wife thought it was burning wires. I checked of the vehicle but found nothing burning. I did however walk to the rear of the vehicle and was overpowered by the same smell. I narrowed in down to the exhaust pipe.

I bought a brand new 2014 ford explorer and the extended warranty at the time of purchase. The exhaust fumes coming into the vehicle during acceleration at highway speeds. I took the truck in to while it was under the bumper to bumper to be fixed and what was done at the time was reprogramming exhaust and AC intake. This did not fix the exhaust problem but did improve the smell and how often it occurred .