2002 Ford F-150 need help

First thing to do is to clean out the EGR ports on the manifold. Or the tube that leads to the manifold and will need a good cleaning, you can turn the engine on and blow it out, reclean turn on.

The exhaust may be hot coming out of it.

Next check to see if its getting sufficent vaccum. And see if the dpfe/evp sensors are showing the proper specifications.