2007 Ford Five Hundred fuel system problems

Purchased a new ford five hundred in 2007. Have kept up with all regular maintenance. After putting about 20,000 miles on the vehicle, I started having a problem with sudden acceleration. I would come to a stop at an intersection, mailbox, or drive-thru and let my foot off the brakes and the car would "jump" -- accelerate on its own. My foot would not even be on the gas pedal. I took it to the ford dealership and was told that the transmission had to be "reprogrammed".

I was driving through a parking lot and was pulling into a space to park. I did not have my foot on the accelerator, as I was just easing to a stop. The engine surged and my car lunged forward, almost hitting the vehicle parked in front of me. This has happened multiple times since, at one time almost hitting a pedestrian. I have to keep my foot on the break constantly and hope I can get the car stopped before someone or something is hit, and pray I don't have to use the accelerator at the low levels of speed.