Upper balljoints done at 54k? That seems a little early to me, but mind you I think my roommate's Ranger is due to them too at 60k and the dealership won't warranty them (falls under normal wear and tear.. wth? at 60k?!!). Most of my other vehicles have been on their factory joints at 200k+, even with heavy offroad use.
Which doors are you talking about, main doors or rear cab doors? That should still be under the warranty I'd think. LR
'09 Ford Ranger FX4 with a mean owner