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It's my understanding that the hubs do dis-connect, there are two vacuum lines to each hub, one engages the other dis-engages or one engages the other is a vent to the back side of the vacuum diaphram. 2 wheel high should dis-engage the whole front end.
I had the Ford garage do a computer scan for me and they indicated that it was the vacuum switch causing the problem, they charged $87 for the diagnostic.
The switch cost $56 and it was a Ford item. (part # 6L3Z 9H465 B :valve asy)
The switch has two vacuum hose's one going to the front hubs and the other to a vacuum connection on the engine.
There is also an electrical connection with two wires that control the switch.
It's easy to replace, it slides into a bracket on the firewall beside the battery.