Thought this might be of interest here.
I was having exactly the same issues as some of the others here when I started the car with Ghost and I was getting the Drive Mode unavailable and Belt Minder message (which incidently I took to Fords who had no idea what this was…)
Anyway, it was all down to how I was starting the car… I was depressing the clutch, Start, disarm, then Start again.
I just tried the method suggested earlier, Start, disarm, start and got no warning messages. So seems that pressing the clutch does screw the system up.
Now it means I can get it into Sport mode that much earlier…
Hope this helps.