Don’t do it!
The 302 is a terrible truck engine at best and the Mazda 5speed is a weak POS. If you have problems with the 351 or the E4OD it would be better to repair them. If you want a stick shift instead of an auto find a smallblock ZF trans from a F250/F350 and stay with the 351. If you’re doing it in hopes of better gas mileage, buy an Escort. Plus, in most states it is illegal to swap a motor that is older than the vehicle it’s going in. There is no good reason to do this swap.
But if you do it it should be easy. Both engines use the same motor mounts. Use the cross member from the F150. You’ll have to use the pedal assemble and electronics from it too. Keep the Bronco transfer case. The front drive shaft from the truck should fit and the Bronco rear drive shaft might fit if the 5-speed isn’t much different in length from the auto. All in all it is a very doable job but I still say it is wasted effort and you would be better off going in a different direction no matter what your goal is.