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I thought this might be a little difficult but it wasn't at all. Simplest door panel that I've ever pulled off.
first remove the panel that goes around the door handle, gently pry it up in the front where the speaker grill meets the panel, use a couple of flat head screw drivers for this. It will pop up once the tabs are released, then you can remove it.
Then remove the window/lock control panel, the front of this will need to be gently pulled up and then you can remove it by sliding it forward. Don't pry up on the rear or you can break the tab off. Unplug the three wire connectors/plugs. A small flat head will help with this.
Remove one 7mm screw behind the panel that you just removed, then remove the two 7mm screws on the very bottom of the door panel.
Now simply lift the door panel straight up and then outward, remove the last wire connector for the power mirrors & it's off.
I also replaced the outside door handle & lock assembly. It was very easy as well. just a 12mm socket, 1/4" drive ratchet & small flat head screw driver.
I'm not sure about the V6, but he spark plugs are also VERY easy to change in the 2004 V8. Fortunately I haven't run in to any seized ones yet (2004 Mountaineer and 2004 Aviator).
Regarding removing the door panels... I found that those cheap nylon pry bars that come in a four or five pack from harbor freight are perfect for popping off the door panels.
Those work well for door panels that use the plastic clips, the Explorer doesn't use those (thank goodness) it just lifts off. I also picked up one of the clip puller pliers from harbor freight and worth every penny! Also great for removing door panels & removing those plastic clips.