We tow a 2014 Focus with autoshift. Works fine. Ours tells you when the transmission is ready for towing. The only issue we have had is that because our hitch receiver on the motorhome is very high we have to use a big hitch drop down which sometimes will drag because the blue ox tow bar mounting points are only about 18” off the ground.
Before deciding on a baseplate and tow bar combo I would research and get the one that allows the smallest hitch adaptor possible to stay in the tow bars leveling limits.
I saw a focus being towed with a roadmaster setup a while back and it appeared to be higher off the ground and required less hitch drop. I looked it over closely but did not do actual measurements. The owner kindly showed me how it all worked but I have not as of yet researched it further.