Occasional no start

Welcome to 2CarPros.

It sounds like a bad crankshaft position sensor. Take a look through these links. The first describes the sensor and the second discusses symptoms.

https://www.2carpros.com/articles/how-a-crank-shaft-angle-sensor-works

https://www.2carpros.com/articles/symptoms-of-a-bad-crankshaft-sensor

If you feel that mirrors what you experience, here is a link that explains in general how to replace one:

https://www.2carpros.com/articles/crankshaft-angle-sensor-replacement

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Here are the specific directions for your vehicle. The attached pic correlates with the directions.

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1996 Ford Truck Explorer 4WD V6-245 4.0L
Procedures
Vehicle Powertrain Management Sensors and Switches - Powertrain Management Sensors and Switches - Computers and Control Systems Crankshaft Position Sensor Service and Repair Procedures
PROCEDURES
Crankshaft Position (CKP) Sensor

Pic 1

REMOVAL
1. Disconnect battery ground cable.

NOTE: When the battery has been disconnected and reconnected, some abnormal drive symptoms may occur while the Powertrain Control Module (PCM) relearns its adaptive strategy. The vehicle may need to be driven 16 km (10 miles) or more to relearn the adaptive strategy.

2. Disconnect Crankshaft Position Sensor (CKP) electrical connector.
3. Remove two CKP sensor screws and remove CKP sensor.

INSTALLATION
1. Position CKP sensor on engine.
2. Install two CKP sensor screws and tighten to 9-12 N.m (80-106 lb-in).
3. Route CKP sensor wiring harness and connect electrical connector.
4. Connect battery ground cable.

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Let me know if this helps or if you have other questions.

Take care,
Joe