Car has a slight hesitation while at constant speed

Hello,

It sounds like the car is misfiring which will cause the issue you describe. I would start with a tune up using Motorcraft parts and I would replace the MAF sensor and service the throttle body (leave the wires connected) Here are three guides that will get your car running smooth again.

https://www.2carpros.com/articles/how-to-tune-up-a-car-engine

and

https://www.2carpros.com/articles/how-to-replace-a-mass-air-flow-sensor-maf

and

https://www.2carpros.com/articles/throttle-actuator-service

Please run down these guides and report back.

Hello and welcome to 2CarPros. A faulty TPS will cause a hesitation because the common failure is a small break in the resistance path that the wiper in the sensor follows. In your vehicle this isn't as likely as it uses 2 different TPS sensors to provide feedback. However you also have the full electronic throttle control and those can act up and cause issues.
There are a couple TSBs on those cars for the throttle bodies. They extended the warranty to 150,000 miles and have a reprogramming item as well to deal with internal contamination. You are just out of the warranty area but they might still help if it is the throttle body. A phone call with your VIN to a local dealer may show if yours has been done or if the reprogramming was done.
It isn't a hard part to change, Remove the air duct from the filter housing, unplug the wiring connector and remove the 4 bolts. Use a new gasket and reverse the process for the new one.

Can you please shoot a quick video with your phone so we can see what's going on? that would be great. You can upload it here with your response.