Since you have known of the warranty coverage, then it's best to speak with the dealership you use if you need major service done to your car.
The most relevant information can be found in some of our forums here as part of a search - but the specifics of each type of claim makes it more of the approach of a one-to-one basis than a "Global" matter that people know about but must show just cause for work to be performed. That means CEL / DTC codes. And in a specific order of fail so the codes can leave a trail of bread crumbs.
So if you wish to skip that hassle and just preserve that which you have, then replacing actuators by yourself may be the best route to take, but it is requiring your knowledge of operation; of the role the actuators play in the transmission.
So tools, work prep and cleaning the area so the mating surfaces are like new so the OEM integrity of the transmission can be maintained are the most important areas to focus on to keep the system working.
IF you have a local autoparts store, they may offer a means to cross reference other suppliers - even have them pull the part on their shelves and inspecting - checking with them may help direct you to help you find the actuators or at least a means to provide a searchable part number for non-OEM suppliers if you wish to go that route.
So the best advice I can give you is to search for YT vids on (I don't really recommend other places due to the amount of ads and site tracking data unless you want them to help you locate it) - Ford Fiesta Transmission Actuators. The process is pretty simple, but you'll also have to make sure the parts dropped out are removed and have not damaged the housings (stripped bolts or prying parts off deforming the housing) and the new ones swapped in are clean and the mounting / mating surfaces are clean and free of dust dirt and debris that the older actuators can leave inside the housing - just use a simple air-jet nozzle to clear out the loose dirt and media so it can be inspected and burnished clean to make sure the seal between the actuator and the transmission housing - are good and square so the seal and integrity can be maintained. Doing things right goes a long way in making this a simpler repair versus finding out you need major service and or replacement of the whole transmission. Catching this quirky action early and fixing it helps keep the system working..
The above stuff is geared towards common sense thinking and attention to the details and the inspection of the system - it's important that wiring is secured and make sure connections are clean and tight - this is the best I can do on this end of the keyboard - any effort in keeping on top of the errant behavior of parts goes a long way is keeping the OEM-level of performance going.
The best advice I can give in all of the above is how to approach the problem - do the research right down to holding the part in your hand and see how it works and know how it mounts to the housing.
IT may be best - to source the parts locally - keep in touch with them. Then those helping you can offer their advice in developing a plan as well as a means to keep providing support for you after the service. That kind of backing in support and help in resources goes a lot farther than visiting a dealership for a one shot deal and, after paying the bill - being left to fend for yourself and having little to work with later on in keeping your car running.