Paint warranty is only 3years or 36,000 miles, whichever comes first.
You can ask to see if they are willing to help you with a goodwill repair, but don't hold your breath. If they do, expect to pay a large co-pay.
It doesn't hurt to ask. It may help to get some other estimates first. If Ford does step up to help with paint this late, they usually won't paint the whole car, just the panels that have the problem.